{"id":7031,"date":"2026-07-18T12:03:32","date_gmt":"2026-07-18T04:03:32","guid":{"rendered":"https:\/\/nullthought.net\/?p=7031"},"modified":"2026-07-18T12:04:00","modified_gmt":"2026-07-18T04:04:00","slug":"autoware%ef%bc%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e9%a2%86%e5%9f%9f%e7%9a%84%e5%bc%80%e6%ba%90%e5%85%a8%e6%a0%88%e8%bd%af%e4%bb%b6%e5%b9%b3%e5%8f%b0","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=7031","title":{"rendered":"Autoware\uff1a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5f00\u6e90\u5168\u6808\u8f6f\u4ef6\u5e73\u53f0"},"content":{"rendered":"\n<figure class=\"wp-block-image aligncenter\"><a href=\"https:\/\/www.autoware.org\/autoware?utm_source=chatgpt.com\"><img decoding=\"async\" src=\"https:\/\/tse2.mm.bing.net\/th\/id\/OIP.Q7mrqbPNchgBItH7ToOIwwHaEV?r=0&amp;pid=Api\" alt=\"Autoware Overview\"\/><\/a><figcaption class=\"wp-element-caption\">Autoware\uff1a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u5f00\u6e90\u5168\u6808\u8f6f\u4ef6\u5e73\u53f0<\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u662f\u4e00\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u5f00\u6e90\u8f6f\u4ef6\u6846\u67b6\uff0c\u5efa\u7acb\u5728 ROS 2 \u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u4e4b\u4e0a\u3002\u5b83\u5e76\u4e0d\u662f\u67d0\u4e00\u79cd\u5355\u72ec\u7684\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\u3001\u8def\u5f84\u89c4\u5212\u7b97\u6cd5\u6216\u8f66\u8f86\u63a7\u5236\u7a0b\u5e8f\uff0c\u800c\u662f\u4e00\u5957\u8986\u76d6\u201c\u4f20\u611f\u5668\u8f93\u5165\u2014\u5b9a\u4f4d\u2014\u73af\u5883\u611f\u77e5\u2014\u884c\u4e3a\u51b3\u7b56\u2014\u8f68\u8ff9\u89c4\u5212\u2014\u8f66\u8f86\u63a7\u5236\u201d\u7684\u5b8c\u6574\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u6808\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u7684\u76ee\u6807\uff0c\u662f\u8ba9\u9ad8\u6821\u3001\u79d1\u7814\u673a\u6784\u3001\u6c7d\u8f66\u4f01\u4e1a\u3001\u81ea\u52a8\u9a7e\u9a76\u516c\u53f8\u548c\u8f66\u8f86\u96c6\u6210\u5546\u4e0d\u5fc5\u4ece\u96f6\u5f00\u53d1\u6574\u5957\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0c\u800c\u662f\u5728\u7edf\u4e00\u63a5\u53e3\u548c\u8f6f\u4ef6\u67b6\u6784\u4e0b\uff0c\u66f4\u6362\u4f20\u611f\u5668\u3001\u8f66\u8f86\u5e95\u76d8\u6216\u7b97\u6cd5\u6a21\u5757\u3002Autoware \u5b98\u65b9\u5c06\u5176\u5b9a\u4f4d\u4e3a\u53ef\u652f\u6301\u673a\u5668\u4eba\u51fa\u79df\u8f66\u3001\u81ea\u52a8\u914d\u9001\u3001\u81ea\u52a8\u9a7e\u9a76\u5df4\u58eb\u3001\u63a5\u9a73\u8f66\u548c\u79c1\u4eba\u4e58\u7528\u8f66\u7b49\u5e94\u7528\u7684\u5e73\u53f0\u3002\u9879\u76ee\u91c7\u7528 Apache 2.0 \u8bb8\u53ef\u8bc1\uff0c\u5141\u8bb8\u7814\u7a76\u3001\u4fee\u6539\u548c\u5546\u4e1a\u4f7f\u7528\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/home\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u622a\u81f3 <strong>2026\u5e747\u670818\u65e5<\/strong>\uff0cAutoware \u5143\u4ed3\u5e93\u6700\u65b0\u6b63\u5f0f\u7248\u672c\u4e3a <strong>1.9.0<\/strong>\uff0c\u53d1\u5e03\u4e8e2026\u5e747\u670816\u65e5\uff1b\u9879\u76ee\u6309\u7167\u8bed\u4e49\u5316\u7248\u672c\u7ba1\u7406\uff0c\u901a\u5e38\u7ea6\u6bcf\u6708\u53d1\u5e03\u4e00\u6b21\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5b98\u65b9\u90e8\u5206\u5b89\u88c5\u6587\u6863\u4e2d\u7684\u547d\u4ee4\u793a\u4f8b\u4ecd\u4ee51.8.0\u4e3a\u4f8b\uff0c\u56e0\u6b64\u5b9e\u9645\u90e8\u7f72\u65f6\u5e94\u4ee5\u4ed3\u5e93\u7684\u6b63\u5f0f\u53d1\u5e03\u6807\u7b7e\u548c\u5bf9\u5e94 <code>.repos<\/code> \u6587\u4ef6\u4e3a\u51c6\u3002(<a href=\"https:\/\/github.com\/autowarefoundation\/autoware\">GitHub<\/a>)<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e00\u3001\u9879\u76ee\u53d1\u5c55\u8fc7\u7a0b<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u9879\u76ee\u7531\u52a0\u85e4\u771f\u5e73\u4e8e2015\u5e74\u5728\u65e5\u672c\u540d\u53e4\u5c4b\u5927\u5b66\u53d1\u8d77\u3002\u6700\u65e9\u7684\u7248\u672c\u79f0\u4e3a <strong>Autoware.AI<\/strong>\uff0c\u57fa\u4e8e ROS 1\uff0c\u662f\u8f83\u65e9\u63d0\u4f9b\u5b9a\u4f4d\u3001\u611f\u77e5\u3001\u89c4\u5212\u548c\u63a7\u5236\u5b8c\u6574\u94fe\u8def\u7684\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6\u4e4b\u4e00\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">2018\u5e74\uff0cAutoware Foundation \u6210\u7acb\uff0c\u8d1f\u8d23\u9879\u76ee\u6cbb\u7406\u3001\u6280\u672f\u8def\u7ebf\u3001\u793e\u533a\u534f\u4f5c\u548c\u4ea7\u4e1a\u63a8\u5e7f\u30022019\u5e74\u524d\u540e\uff0c\u9879\u76ee\u5f00\u59cb\u5f00\u53d1\u57fa\u4e8e ROS 2\u3001\u66f4\u52a0\u91cd\u89c6\u8f6f\u4ef6\u5de5\u7a0b\u8d28\u91cf\u7684 <strong>Autoware.Auto<\/strong>\u3002Autoware.Auto \u5e76\u4e0d\u662f\u5bf9 ROS 1 \u7248\u672c\u7684\u7b80\u5355\u79fb\u690d\uff0c\u800c\u662f\u56f4\u7ed5\u81ea\u52a8\u6cca\u8f66\u3001\u8d27\u7269\u914d\u9001\u7b49\u660e\u786e\u7684\u8fd0\u884c\u8bbe\u8ba1\u57df\u91cd\u65b0\u8bbe\u8ba1\u67b6\u6784\u3001\u63a5\u53e3\u3001\u6d4b\u8bd5\u548c\u6587\u6863\u3002(<a href=\"https:\/\/autoware.org\/past-present-and-the-future-of-autoware\/?utm_source=chatgpt.com\">Autoware<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f46 Autoware.Auto \u7684\u4e25\u683c\u51c6\u5165\u548c\u8d28\u91cf\u8981\u6c42\uff0c\u4e5f\u63d0\u9ad8\u4e86\u79d1\u7814\u4eba\u5458\u8d21\u732e\u65b0\u7b97\u6cd5\u7684\u95e8\u69db\u3002\u4e3a\u540c\u65f6\u517c\u987e\u7a33\u5b9a\u6027\u548c\u524d\u6cbf\u7b97\u6cd5\u8bd5\u9a8c\uff0c\u9879\u76ee\u540e\u6765\u8f6c\u5411\u76ee\u524d\u7684 <strong>Autoware Core\/Universe<\/strong> \u6a21\u5f0f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Core \u63d0\u4f9b\u7a33\u5b9a\u3001\u7ecf\u8fc7\u8f83\u4e25\u683c\u6d4b\u8bd5\u7684\u57fa\u7840\u529f\u80fd\uff1b<\/li>\n\n\n\n<li>Universe \u5bb9\u7eb3\u66f4\u65b0\u3001\u66f4\u4e30\u5bcc\u3001\u8fed\u4ee3\u901f\u5ea6\u66f4\u5feb\u7684\u7b97\u6cd5\u548c\u529f\u80fd\uff1b<\/li>\n\n\n\n<li>\u6210\u719f\u7684 Universe \u6a21\u5757\u53ef\u4ee5\u7ecf\u8fc7\u8bc4\u5ba1\u540e\u8fdb\u5165 Core\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware.AI \u5df2\u505c\u6b62\u4f5c\u4e3a\u4e3b\u7ebf\u53d1\u5c55\uff0cAutoware.Auto \u4e5f\u4e0d\u518d\u662f\u6700\u65b0\u4ee3\u7801\u5165\u53e3\uff0c\u5f53\u524d\u7528\u6237\u5e94\u4f7f\u7528 GitHub \u4e0a\u7684 Autoware Core\/Universe \u4f53\u7cfb\u3002(<a href=\"https:\/\/autoware.org\/past-present-and-the-future-of-autoware\/\">Autoware<\/a>)<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e8c\u3001Autoware \u7684\u603b\u4f53\u5de5\u4f5c\u539f\u7406<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5176\u5178\u578b\u6570\u636e\u94fe\u8def\u53ef\u4ee5\u6982\u62ec\u4e3a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3001GNSS\u3001IMU\u3001\u8f66\u8f6e\u901f\u5ea6\n                          \u2193\n                  Sensing \u4f20\u611f\u5668\u5904\u7406\n                          \u2193\n          Map \u5730\u56fe \u2500\u2500 Localization \u5b9a\u4f4d\n                \u2198          \u2193\n                   Perception \u611f\u77e5\n                          \u2193\n                     Planning \u89c4\u5212\n                          \u2193\n                      Control \u63a7\u5236\n                          \u2193\n               Vehicle Interface \u8f66\u8f86\u63a5\u53e3\n                          \u2193\n          \u8f6c\u5411\u3001\u5236\u52a8\u3001\u9a71\u52a8\u3001\u6321\u4f4d\u3001\u706f\u5149\u7b49\u6267\u884c\u673a\u6784\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u5f53\u524d\u7684\u67b6\u6784\u6587\u6863\u628a\u4e3b\u8981\u9a7e\u9a76\u529f\u80fd\u5212\u5206\u4e3a\u4e03\u4e2a\u90e8\u5206\uff1aSensing\u3001Map\u3001Localization\u3001Perception\u3001Planning\u3001Control \u548c Vehicle Interface\u3002\u7cfb\u7edf\u76d1\u63a7\u3001\u8bca\u65ad\u3001API\u3001\u4eff\u771f\u548c\u5f00\u53d1\u5de5\u5177\u5219\u4f5c\u4e3a\u652f\u6491\u5c42\u5b58\u5728\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/autoware-architecture-v1\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u5c06\u8fd9\u79cd\u8bbe\u8ba1\u79f0\u4e3a <strong>Microautonomy Architecture\uff0c\u5fae\u81ea\u6cbb\u67b6\u6784<\/strong>\u3002\u5b83\u628a\u81ea\u52a8\u9a7e\u9a76\u62c6\u6210\u8bb8\u591a\u8f93\u5165\u8f93\u51fa\u660e\u786e\u7684\u5c0f\u6a21\u5757\u3002\u4f8b\u5982\uff0c\u53ef\u4ee5\u5c06\u9ed8\u8ba4\u7684\u6fc0\u5149\u96f7\u8fbe\u76ee\u6807\u68c0\u6d4b\u5668\u6362\u6210\u81ea\u7814\u795e\u7ecf\u7f51\u7edc\uff0c\u800c\u4e0b\u6e38\u8ddf\u8e2a\u3001\u9884\u6d4b\u548c\u89c4\u5212\u6a21\u5757\u4e0d\u5fc5\u5168\u90e8\u91cd\u5199\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u79cd\u7ed3\u6784\u7684\u4f18\u70b9\u662f\u6a21\u5757\u53ef\u66ff\u6362\u3001\u65b9\u4fbf\u79d1\u7814\u9a8c\u8bc1\u548c\u591a\u56e2\u961f\u534f\u4f5c\uff1b\u7f3a\u70b9\u662f ROS \u8bdd\u9898\u4f20\u8f93\u3001\u6570\u636e\u590d\u5236\u3001\u8282\u70b9\u8c03\u5ea6\u548c\u6a21\u5757\u95f4\u5ef6\u8fdf\u4f1a\u589e\u52a0\u7cfb\u7edf\u5f00\u9500\uff0c\u56e0\u6b64\u771f\u5b9e\u8f66\u8f86\u90e8\u7f72\u4e0d\u80fd\u53ea\u5173\u6ce8\u5e73\u5747\u8ba1\u7b97\u901f\u5ea6\uff0c\u8fd8\u8981\u5173\u6ce8\u5404\u8282\u70b9\u622a\u6b62\u65f6\u95f4\u3001\u65f6\u5ef6\u6296\u52a8\u548c\u6700\u574f\u60c5\u51b5\u6267\u884c\u65f6\u95f4\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/autoware-concepts\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e09\u3001Sensing\uff1a\u4f20\u611f\u5668\u4e0e\u6570\u636e\u9884\u5904\u7406<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Sensing \u5c42\u7684\u4efb\u52a1\u4e0d\u662f\u7406\u89e3\u73af\u5883\uff0c\u800c\u662f\u628a\u6765\u81ea\u4e0d\u540c\u5382\u5546\u3001\u4e0d\u540c\u901a\u4fe1\u63a5\u53e3\u7684\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\uff0c\u8f6c\u6362\u4e3a\u4e0b\u6e38\u6a21\u5757\u53ef\u4ee5\u7a33\u5b9a\u4f7f\u7528\u7684 ROS 2 \u6d88\u606f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5178\u578b\u8f93\u5165\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\uff1b<\/li>\n\n\n\n<li>\u6444\u50cf\u5934\u56fe\u50cf\uff1b<\/li>\n\n\n\n<li>\u6beb\u7c73\u6ce2\u96f7\u8fbe\u76ee\u6807\u6216\u70b9\u4e91\uff1b<\/li>\n\n\n\n<li>GNSS\/INS \u6570\u636e\uff1b<\/li>\n\n\n\n<li>IMU \u52a0\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\uff1b<\/li>\n\n\n\n<li>\u8f6e\u901f\u3001\u8f6c\u89d2\u3001\u8f66\u901f\u548c\u8f66\u8f86 CAN \u4fe1\u606f\uff1b<\/li>\n\n\n\n<li>\u90e8\u5206\u573a\u666f\u4e0b\u7684\u8d85\u58f0\u6ce2\u96f7\u8fbe\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u4e00\u5c42\u901a\u5e38\u5b8c\u6210\u5750\u6807\u8f6c\u6362\u3001\u65f6\u95f4\u6233\u5904\u7406\u3001\u7578\u53d8\u6821\u6b63\u3001\u70b9\u4e91\u62fc\u63a5\u3001\u964d\u91c7\u6837\u3001\u5730\u9762\u4e0e\u566a\u58f0\u8fc7\u6ee4\u3001\u96f7\u8fbe\u6570\u636e\u9002\u914d\u3001\u56fe\u50cf\u89e3\u538b\u548c\u4f20\u611f\u5668\u72b6\u6001\u8bca\u65ad\u3002Autoware Universe \u4e2d\u5df2\u7ecf\u5305\u542b\u70b9\u4e91\u65f6\u95f4\u540c\u6b65\u3001\u8fd0\u52a8\u7578\u53d8\u6821\u6b63\u3001\u4f53\u7d20\u964d\u91c7\u6837\u3001\u79bb\u7fa4\u70b9\u8fc7\u6ee4\u3001\u96f7\u8fbe\u9759\u6001\u70b9\u8fc7\u6ee4\u4ee5\u53ca CUDA \u52a0\u901f\u70b9\u4e91\u9884\u5904\u7406\u7b49\u6a21\u5757\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u771f\u5b9e\u8f66\u8f86\u4e0a\uff0cSensing \u5c42\u5f80\u5f80\u662f\u96c6\u6210\u5de5\u4f5c\u91cf\u6700\u5927\u7684\u90e8\u5206\u4e4b\u4e00\u3002\u4f20\u611f\u5668\u65f6\u95f4\u540c\u6b65\u3001\u5916\u53c2\u8bef\u5dee\u3001\u7f51\u7edc\u4e22\u5305\u3001\u70b9\u4e91\u5ef6\u8fdf\u6216\u9519\u8bef\u7684 TF \u5750\u6807\u5173\u7cfb\uff0c\u90fd\u4f1a\u7ee7\u7eed\u4f20\u9012\u5230\u5b9a\u4f4d\u548c\u611f\u77e5\u6a21\u5757\u3002\u56e0\u6b64\uff0c\u201c\u9a71\u52a8\u5df2\u7ecf\u80fd\u591f\u53d1\u5e03\u6570\u636e\u201d\u5e76\u4e0d\u7b49\u4e8e\u4f20\u611f\u5668\u5df2\u7ecf\u6ee1\u8db3\u81ea\u52a8\u9a7e\u9a76\u8981\u6c42\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u56db\u3001Map\uff1a\u70b9\u4e91\u5730\u56fe\u548c\u8bed\u4e49\u5730\u56fe<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u7684\u7ecf\u5178\u65b9\u6848\u5177\u6709\u8f83\u660e\u663e\u7684\u9ad8\u7cbe\u5730\u56fe\u4f9d\u8d56\uff0c\u901a\u5e38\u4f7f\u7528\u4e24\u7c7b\u5730\u56fe\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u70b9\u4e91\u5730\u56fe<\/strong>\u4e00\u822c\u4ee5 PCD \u7b49\u5f62\u5f0f\u4fdd\u5b58\u9053\u8def\u5468\u8fb9\u5efa\u7b51\u3001\u8def\u706f\u6746\u3001\u62a4\u680f\u548c\u5176\u4ed6\u9759\u6001\u7ed3\u6784\uff0c\u7528\u4e8e\u6fc0\u5149\u96f7\u8fbe\u5b9a\u4f4d\u3002\u8f66\u8f86\u5b9e\u65f6\u70b9\u4e91\u4e0e\u5730\u56fe\u70b9\u4e91\u5339\u914d\uff0c\u53ef\u4ee5\u4f30\u8ba1\u8f66\u8f86\u5728\u5730\u56fe\u4e2d\u7684\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u77e2\u91cf\u5730\u56fe<\/strong>\u4e3b\u8981\u91c7\u7528 Lanelet2 \u683c\u5f0f\uff0c\u63cf\u8ff0\u8f66\u9053\u4e2d\u5fc3\u7ebf\u3001\u8f66\u9053\u8fb9\u754c\u3001\u884c\u9a76\u65b9\u5411\u3001\u9650\u901f\u3001\u4ea4\u53c9\u53e3\u3001\u505c\u6b62\u7ebf\u3001\u4eba\u884c\u6a2a\u9053\u3001\u4ea4\u901a\u4fe1\u53f7\u706f\u3001\u51cf\u901f\u5e26\u548c\u7981\u505c\u533a\u57df\u7b49\u8bed\u4e49\u4fe1\u606f\u3002\u89c4\u5212\u5668\u4f9d\u636e\u8fd9\u4e9b\u4fe1\u606f\u7406\u89e3\u201c\u54ea\u91cc\u53ef\u4ee5\u884c\u9a76\u201d\u201c\u54ea\u91cc\u5fc5\u987b\u505c\u8f66\u201d\u201c\u5f53\u524d\u8f66\u9053\u8fde\u63a5\u5230\u54ea\u6761\u8f66\u9053\u201d\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/autoware-architecture-v1\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u53ef\u4ee5\u7b80\u5355\u7406\u89e3\u4e3a\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u4e91\u5730\u56fe\u4e3b\u8981\u56de\u7b54\u201c\u8f66\u8f86\u73b0\u5728\u5728\u54ea\u91cc\u201d\uff1b<\/li>\n\n\n\n<li>Lanelet2 \u77e2\u91cf\u5730\u56fe\u4e3b\u8981\u56de\u7b54\u201c\u9053\u8def\u89c4\u5219\u548c\u62d3\u6251\u7ed3\u6784\u662f\u4ec0\u4e48\u201d\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u5e76\u975e\u6240\u6709\u914d\u7f6e\u90fd\u5fc5\u987b\u540c\u65f6\u4f7f\u7528\u4e24\u7c7b\u5730\u56fe\u3002\u4f8b\u5982\uff0c\u5b98\u65b9\u5b9a\u4f4d\u8bbe\u8ba1\u5141\u8bb8 GNSS \u4e3b\u5bfc\u6216\u90e8\u5206\u65e0\u5730\u56fe\u5b9a\u4f4d\u65b9\u6848\uff1b\u4f46\u5bf9\u4e8e\u57ce\u5e02\u9053\u8def\u4e0a\u7684\u53c2\u8003\u5168\u6808\u914d\u7f6e\uff0c\u70b9\u4e91\u5730\u56fe\u4e0e Lanelet2 \u5730\u56fe\u4ecd\u7136\u975e\u5e38\u91cd\u8981\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e94\u3001Localization\uff1a\u8f66\u8f86\u5b9a\u4f4d<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9a\u4f4d\u6a21\u5757\u8981\u6301\u7eed\u8f93\u51fa\u8f66\u8f86\u7684\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f4d\u7f6e\u548c\u59ff\u6001 Pose\uff1b<\/li>\n\n\n\n<li>\u7ebf\u901f\u5ea6\u548c\u89d2\u901f\u5ea6 Twist\uff1b<\/li>\n\n\n\n<li>\u52a0\u901f\u5ea6 Accel\uff1b<\/li>\n\n\n\n<li>\u534f\u65b9\u5dee\u548c\u5b9a\u4f4d\u53ef\u4fe1\u5ea6\uff1b<\/li>\n\n\n\n<li><code>map \u2192 base_link<\/code> \u5750\u6807\u53d8\u6362\uff1b<\/li>\n\n\n\n<li>\u5b9a\u4f4d\u5f02\u5e38\u8bca\u65ad\u4fe1\u606f\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u5e38\u89c1\u7684\u5b9a\u4f4d\u94fe\u8def\u662f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>GNSS \u63d0\u4f9b\u5168\u5c40\u521d\u59cb\u4f4d\u7f6e\n            \u2193\n\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u4e0e\u70b9\u4e91\u5730\u56fe\u8fdb\u884c NDT \u5339\u914d\n            \u2193\nIMU\u3001\u8f6e\u901f\u548c\u8f66\u8f86\u91cc\u7a0b\u8ba1\u63d0\u4f9b\u9ad8\u9891\u77ed\u671f\u8fd0\u52a8\u4fe1\u606f\n            \u2193\n\u6ee4\u6ce2\u5668\u878d\u5408\u591a\u4e2a\u5b9a\u4f4d\u7ed3\u679c\n            \u2193\n\u8f93\u51fa\u8f66\u8f86\u5728\u5730\u56fe\u4e2d\u7684\u8fde\u7eed\u4f4d\u59ff\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b98\u65b9\u80fd\u529b\u8bf4\u660e\u4e2d\u5c06 NDT \u70b9\u4e91\u5339\u914d\u4e0e GNSS\u3001IMU \u91cc\u7a0b\u8ba1\u878d\u5408\u4f5c\u4e3a\u5178\u578b\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u65b9\u6848\u3002\u5176\u5b9a\u4f4d\u8bbe\u8ba1\u5141\u8bb8\u4f7f\u7528\u4e0d\u540c\u4f20\u611f\u5668\u7ec4\u5408\uff0c\u5305\u62ec LiDAR\u3001\u6444\u50cf\u5934\u89c6\u89c9\u5b9a\u4f4d\u3001GNSS\u3001\u8f6e\u901f\u3001IMU\u3001\u5730\u78c1\u4f20\u611f\u5668\u548c\u78c1\u9489\u5b9a\u4f4d\u7b49\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/home\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware Universe \u8fd8\u5305\u62ec\u5b9a\u4f4d\u8bef\u5dee\u76d1\u63a7\u3001\u59ff\u6001\u4e0d\u7a33\u5b9a\u68c0\u6d4b\u3001\u4e0d\u540c\u5b9a\u4f4d\u5668\u7ed3\u679c\u4ef2\u88c1\u3001\u5730\u6807\u5b9a\u4f4d\u4ee5\u53ca YabLoc \u89c6\u89c9\u5b9a\u4f4d\u7b49\u6a21\u5757\u3002\u8fd9\u8bf4\u660e Autoware \u7684\u5b9a\u4f4d\u5c42\u4e0d\u662f\u56fa\u5b9a\u4e3a\u5355\u4e00 NDT \u7b97\u6cd5\uff0c\u800c\u662f\u9884\u7559\u4e86\u591a\u5b9a\u4f4d\u6e90\u878d\u5408\u548c\u66ff\u6362\u80fd\u529b\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware_universe\/main\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9a\u4f4d\u8d28\u91cf\u76f4\u63a5\u51b3\u5b9a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u4e0a\u9650\u3002\u5373\u4f7f\u76ee\u6807\u68c0\u6d4b\u5b8c\u5168\u6b63\u786e\uff0c\u53ea\u8981\u8f66\u8f86\u5728\u5730\u56fe\u4e2d\u6a2a\u5411\u504f\u79fb\u51e0\u5341\u5398\u7c73\uff0c\u89c4\u5212\u5668\u5c31\u53ef\u80fd\u8bef\u8ba4\u4e3a\u8f66\u8f86\u538b\u7ebf\u6216\u8fdb\u5165\u76f8\u90bb\u8f66\u9053\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u516d\u3001Perception\uff1a\u73af\u5883\u611f\u77e5<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u611f\u77e5\u5c42\u63a5\u6536\u4f20\u611f\u5668\u3001\u5b9a\u4f4d\u548c\u5730\u56fe\u6570\u636e\uff0c\u4e3a\u73af\u5883\u6dfb\u52a0\u8bed\u4e49\u4fe1\u606f\uff0c\u4e3b\u8981\u5305\u62ec\u56db\u7c7b\u8f93\u51fa\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u76ee\u6807\u8bc6\u522b\u3001\u8ddf\u8e2a\u548c\u9884\u6d4b\u3002<\/strong><br>\u8bc6\u522b\u6c7d\u8f66\u3001\u5361\u8f66\u3001\u516c\u4ea4\u8f66\u3001\u884c\u4eba\u3001\u81ea\u884c\u8f66\u3001\u6469\u6258\u8f66\u3001\u4ea4\u901a\u9525\u7b49\u5bf9\u8c61\uff0c\u7ed9\u6bcf\u4e2a\u76ee\u6807\u5206\u914d\u6301\u7eed ID\uff0c\u4f30\u8ba1\u5176\u901f\u5ea6\u3001\u671d\u5411\uff0c\u5e76\u9884\u6d4b\u672a\u6765\u8fd0\u52a8\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u969c\u788d\u7269\u5206\u5272\u3002<\/strong><br>\u4ece\u70b9\u4e91\u4e2d\u63d0\u53d6\u5899\u4f53\u3001\u62a4\u680f\u3001\u8def\u7f18\u3001\u6811\u6728\u3001\u9759\u6b62\u8f66\u8f86\u7b49\u9700\u8981\u7ed5\u884c\u6216\u505c\u8f66\u7684\u969c\u788d\u7269\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u5360\u7528\u6805\u683c\u3002<\/strong><br>\u628a\u5468\u56f4\u7a7a\u95f4\u5212\u5206\u4e3a\u53ef\u901a\u884c\u3001\u5df2\u5360\u7528\u6216\u672a\u77e5\u533a\u57df\uff0c\u5e2e\u52a9\u89c4\u5212\u5668\u5904\u7406\u76f2\u533a\u548c\u975e\u7ed3\u6784\u5316\u73af\u5883\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4ea4\u901a\u4fe1\u53f7\u706f\u8bc6\u522b\u3002<\/strong><br>\u7ed3\u5408 Lanelet2 \u5730\u56fe\u4e2d\u4ea4\u901a\u706f\u4f4d\u7f6e\uff0c\u4ece\u6444\u50cf\u5934\u56fe\u50cf\u88c1\u526a\u5019\u9009\u533a\u57df\uff0c\u518d\u5b8c\u6210\u706f\u8272\u548c\u7bad\u5934\u65b9\u5411\u5206\u7c7b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f53\u524d Universe \u4e2d\u53ef\u4ee5\u770b\u5230 BEVFusion\u3001CenterPoint\u3001TransFusion\u3001\u6444\u50cf\u5934 StreamPETR\u3001YOLOX\u3001\u6b27\u6c0f\u805a\u7c7b\u3001\u5730\u9762\u5206\u5272\u3001\u591a\u76ee\u6807\u8ddf\u8e2a\u3001\u5730\u56fe\u7ea6\u675f\u9884\u6d4b\u4ee5\u53ca\u591a\u6444\u50cf\u5934\u4ea4\u901a\u706f\u878d\u5408\u7b49\u6a21\u5757\u3002\u5b83\u65e2\u4fdd\u7559\u4f20\u7edf\u7684\u51e0\u4f55\u805a\u7c7b\u548c\u89c4\u5219\u5904\u7406\uff0c\u4e5f\u96c6\u6210\u4e86\u5927\u91cf\u6df1\u5ea6\u5b66\u4e60\u611f\u77e5\u7b97\u6cd5\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware_universe\/main\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u79cd\u7ec4\u5408\u5f88\u6709\u5b9e\u9645\u610f\u4e49\uff1a\u795e\u7ecf\u7f51\u7edc\u68c0\u6d4b\u80fd\u529b\u5f3a\uff0c\u4f46\u53ef\u80fd\u5b58\u5728\u6f0f\u68c0\u548c\u8bef\u68c0\uff1b\u51e0\u4f55\u70b9\u4e91\u65b9\u6cd5\u4e0d\u9700\u8981\u8bad\u7ec3\u6570\u636e\uff0c\u4f46\u4e0d\u5bb9\u6613\u51c6\u786e\u5206\u7c7b\u3002Autoware \u53ef\u4ee5\u5c06\u591a\u79cd\u68c0\u6d4b\u7ed3\u679c\u878d\u5408\uff0c\u518d\u8fdb\u884c\u9a8c\u8bc1\u3001\u8ddf\u8e2a\u548c\u9884\u6d4b\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e03\u3001Planning\uff1a\u51b3\u7b56\u4e0e\u8f68\u8ff9\u89c4\u5212<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u7684\u89c4\u5212\u4e0d\u662f\u4e00\u4e2a\u5355\u72ec\u7b97\u6cd5\uff0c\u800c\u662f\u5206\u5c42\u5b8c\u6210\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">1. Mission Planning<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">\u4efb\u52a1\u89c4\u5212\u6839\u636e\u8d77\u70b9\u3001\u7ec8\u70b9\u548c Lanelet2 \u9053\u8def\u62d3\u6251\u751f\u6210\u5168\u5c40\u8def\u7ebf\u3002\u4f8b\u5982\u786e\u5b9a\u5e94\u4f9d\u6b21\u7ecf\u8fc7\u54ea\u4e9b\u8f66\u9053\u3001\u8def\u53e3\u548c\u9053\u8def\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">2. Behavior Path Planning<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">\u884c\u4e3a\u8def\u5f84\u89c4\u5212\u51b3\u5b9a\u7a7a\u95f4\u4e0a\u7684\u9a7e\u9a76\u52a8\u4f5c\uff0c\u4f8b\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4fdd\u6301\u5f53\u524d\u8f66\u9053\uff1b<\/li>\n\n\n\n<li>\u5411\u5de6\u6216\u5411\u53f3\u53d8\u9053\uff1b<\/li>\n\n\n\n<li>\u7ed5\u8fc7\u9759\u6001\u969c\u788d\u7269\uff1b<\/li>\n\n\n\n<li>\u4ece\u8def\u8fb9\u6216\u505c\u8f66\u4f4d\u8d77\u6b65\uff1b<\/li>\n\n\n\n<li>\u9760\u8fb9\u505c\u8f66\uff1b<\/li>\n\n\n\n<li>\u4fa7\u5411\u504f\u79fb\uff1b<\/li>\n\n\n\n<li>\u8fdb\u5165\u505c\u8f66\u533a\u57df\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">3. Behavior Velocity Planning<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">\u884c\u4e3a\u901f\u5ea6\u89c4\u5212\u5904\u7406\u9053\u8def\u89c4\u5219\u548c\u4ea4\u901a\u573a\u666f\uff0c\u4f8b\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u505c\u6b62\u7ebf\u505c\u8f66\uff1b<\/li>\n\n\n\n<li>\u7ea2\u706f\u505c\u8f66\uff1b<\/li>\n\n\n\n<li>\u901a\u8fc7\u4ea4\u53c9\u53e3\uff1b<\/li>\n\n\n\n<li>\u793c\u8ba9\u4eba\u884c\u6a2a\u9053\uff1b<\/li>\n\n\n\n<li>\u76f2\u533a\u51cf\u901f\uff1b<\/li>\n\n\n\n<li>\u68c0\u6d4b\u533a\u57df\u505c\u8f66\uff1b<\/li>\n\n\n\n<li>\u51cf\u901f\u5e26\u9650\u901f\uff1b<\/li>\n\n\n\n<li>\u7981\u505c\u533a\u5904\u7406\uff1b<\/li>\n\n\n\n<li>\u865a\u62df\u4ea4\u901a\u4fe1\u53f7\u706f\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">4. Motion Planning<\/h5>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd0\u52a8\u89c4\u5212\u628a\u884c\u4e3a\u5c42\u7ed9\u51fa\u7684\u8def\u5f84\u8fdb\u4e00\u6b65\u5e73\u6ed1\u3001\u4f18\u5316\u548c\u8d4b\u4e88\u901f\u5ea6\uff0c\u4f7f\u8f68\u8ff9\u6ee1\u8db3\u8f66\u8f86\u8fd0\u52a8\u5b66\u7ea6\u675f\u3001\u8212\u9002\u6027\u9650\u5236\u3001\u66f2\u7387\u9650\u5236\u4ee5\u53ca\u969c\u788d\u7269\u5b89\u5168\u8ddd\u79bb\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u505c\u8f66\u6216\u65e0\u660e\u786e\u8f66\u9053\u7684\u533a\u57df\u8fd8\u53ef\u4ee5\u4f7f\u7528 freespace planner\uff0c\u5b98\u65b9\u6a21\u5757\u4e2d\u5305\u62ec RRT* \u7b49\u81ea\u7531\u7a7a\u95f4\u641c\u7d22\u7b97\u6cd5\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware_universe\/main\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u76ee\u524d\u4ecd\u4ee5\u6a21\u5757\u5316\u3001\u89c4\u5219\u5f0f\u89c4\u5212\u4e3a\u4e3b\u4f53\uff0c\u4f46 Universe \u5df2\u5305\u542b Diffusion Planner\u3001\u8f68\u8ff9\u6392\u5e8f\u5668\u3001\u5b89\u5168\u8fc7\u6ee4\u5668\u3001QP \u8f68\u8ff9\u5e73\u6ed1\u5668\u548c\u4ea4\u901a\u89c4\u5219\u8fc7\u6ee4\u5668\u7b49\u5b66\u4e60\u5f0f\u6216\u6df7\u5408\u5f0f\u89c4\u5212\u7ec4\u4ef6\u3002\u8fd9\u8868\u660e\u9879\u76ee\u6b63\u5728\u4ece\u7eaf\u89c4\u5219\u6d41\u6c34\u7ebf\uff0c\u9010\u6b65\u6269\u5c55\u5230\u89c4\u5219\u89c4\u5212\u3001\u5b66\u4e60\u5f0f\u89c4\u5212\u548c\u7aef\u5230\u7aef\u6a21\u578b\u5e76\u5b58\u7684\u7ed3\u6784\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware_universe\/main\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u516b\u3001Control\uff1a\u8f66\u8f86\u63a7\u5236<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u89c4\u5212\u6a21\u5757\u8f93\u51fa\u671f\u671b\u8f68\u8ff9\uff0c\u63a7\u5236\u6a21\u5757\u8d1f\u8d23\u8ba9\u8f66\u8f86\u5b9e\u9645\u8ddf\u968f\u8fd9\u6761\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6a2a\u5411\u63a7\u5236\u89e3\u51b3\u65b9\u5411\u76d8\u600e\u4e48\u8f6c\uff0c\u5e38\u89c1\u6a21\u5757\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>MPC \u6a21\u578b\u9884\u6d4b\u63a7\u5236\uff1b<\/li>\n\n\n\n<li>Pure Pursuit \u7eaf\u8ddf\u8e2a\uff1b<\/li>\n\n\n\n<li>\u667a\u80fd MPC \u8f68\u8ff9\u8ddf\u8e2a\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u7eb5\u5411\u63a7\u5236\u89e3\u51b3\u6cb9\u95e8\u548c\u5236\u52a8\u600e\u4e48\u63a7\u5236\uff0cAutoware \u63d0\u4f9b PID \u7eb5\u5411\u63a7\u5236\u5668\u7b49\u5b9e\u73b0\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6b64\u5916\uff0c\u63a7\u5236\u5c42\u8fd8\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u81ea\u52a8\u7d27\u6025\u5236\u52a8\uff1b<\/li>\n\n\n\n<li>\u78b0\u649e\u68c0\u6d4b\uff1b<\/li>\n\n\n\n<li>\u8f66\u9053\u504f\u79bb\u68c0\u67e5\uff1b<\/li>\n\n\n\n<li>\u8f68\u8ff9\u6709\u6548\u6027\u9a8c\u8bc1\uff1b<\/li>\n\n\n\n<li>\u63a7\u5236\u547d\u4ee4\u9009\u62e9\u548c\u95e8\u63a7\uff1b<\/li>\n\n\n\n<li>\u81ea\u52a8\u9a7e\u9a76\u3001\u9065\u63a7\u9a7e\u9a76\u3001\u624b\u52a8\u9a7e\u9a76\u4e4b\u95f4\u7684\u6a21\u5f0f\u5207\u6362\uff1b<\/li>\n\n\n\n<li>\u505c\u6b62\u6a21\u5f0f\u548c\u7d27\u6025\u6a21\u5f0f\u5904\u7406\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware_universe\/main\/\">Autoware Foundation<\/a>)<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u63a7\u5236\u8f93\u51fa\u901a\u5e38\u4e0d\u662f\u76f4\u63a5\u64cd\u4f5c\u67d0\u4e2a\u7279\u5b9a\u54c1\u724c\u8f66\u8f86\u7684 CAN \u62a5\u6587\uff0c\u800c\u662f\u8f93\u51fa\u6807\u51c6\u5316\u7684\u8f6c\u5411\u3001\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u3001\u5236\u52a8\u548c\u6321\u4f4d\u6307\u4ee4\uff0c\u518d\u4ea4\u7ed9 Vehicle Interface \u8f6c\u6362\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e5d\u3001Vehicle Interface\uff1a\u8f66\u8f86\u5e95\u76d8\u9002\u914d<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Vehicle Interface \u662f Autoware \u4e0e\u771f\u5b9e\u8f66\u8f86\u4e4b\u95f4\u7684\u8fb9\u754c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5411\u4e0b\uff0c\u5b83\u9700\u8981\u8fde\u63a5\u8f66\u8f86\u7ebf\u63a7\u7cfb\u7edf\uff0c\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7ebf\u63a7\u8f6c\u5411\uff1b<\/li>\n\n\n\n<li>\u7ebf\u63a7\u5236\u52a8\uff1b<\/li>\n\n\n\n<li>\u9a71\u52a8\u7535\u673a\u6216\u53d1\u52a8\u673a\u63a7\u5236\uff1b<\/li>\n\n\n\n<li>\u6321\u4f4d\uff1b<\/li>\n\n\n\n<li>\u9a7b\u8f66\u5236\u52a8\uff1b<\/li>\n\n\n\n<li>\u8f6c\u5411\u706f\u548c\u5371\u9669\u8b66\u793a\u706f\uff1b<\/li>\n\n\n\n<li>\u8f66\u95e8\u7b49\u9644\u5c5e\u8bbe\u5907\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5411\u4e0a\uff0c\u5b83\u628a\u8f66\u8f86\u5b9e\u9645\u8f66\u901f\u3001\u65b9\u5411\u76d8\u89d2\u5ea6\u3001\u6321\u4f4d\u3001\u5236\u52a8\u72b6\u6001\u548c\u9a7e\u9a76\u6a21\u5f0f\u8f6c\u6362\u4e3a Autoware \u6807\u51c6\u6d88\u606f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u56e0\u6b64\uff0c\u540c\u4e00\u5957 Autoware \u611f\u77e5\u548c\u89c4\u5212\u4ee3\u7801\u53ef\u4ee5\u8fd0\u884c\u5728\u4e0d\u540c\u8f66\u8f86\u4e0a\uff0c\u4f46\u6bcf\u79cd\u8f66\u8f86\u901a\u5e38\u90fd\u9700\u8981\u5f00\u53d1\u6216\u9002\u914d\u81ea\u5df1\u7684 Vehicle Interface\u3002\u5b98\u65b9\u96c6\u6210\u6559\u7a0b\u5206\u522b\u63d0\u4f9b\u8f66\u8f86\u6a21\u578b\u3001\u4f20\u611f\u5668\u6a21\u578b\u3001Ackermann \u8f6c\u5411\u8f66\u8f86\u4ee5\u53ca\u5dee\u901f\u9a71\u52a8\u8f66\u8f86\u7684\u9002\u914d\u8bf4\u660e\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/repository-structure\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u666e\u901a\u91cf\u4ea7\u6c7d\u8f66\u5373\u4f7f\u5177\u5907 ACC \u6216\u8f66\u9053\u4fdd\u6301\u529f\u80fd\uff0c\u4e5f\u4e0d\u4e00\u5b9a\u5f00\u653e\u5b8c\u6574\u7684\u8f6c\u5411\u3001\u5236\u52a8\u548c\u9a71\u52a8\u63a7\u5236\u63a5\u53e3\u3002\u8981\u8fd0\u884c Autoware\uff0c\u8f66\u8f86\u901a\u5e38\u9700\u8981\u7ecf\u8fc7\u7ebf\u63a7\u6539\u88c5\uff0c\u6216\u8005\u672c\u8eab\u5c31\u662f\u5f00\u653e\u7ebf\u63a7\u63a5\u53e3\u7684\u5f00\u53d1\u5e73\u53f0\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u5341\u3001\u7cfb\u7edf\u76d1\u63a7\u3001\u6545\u969c\u5904\u7406\u548c\u5916\u90e8\u63a5\u53e3<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u4e0d\u53ea\u6709\u9a7e\u9a76\u7b97\u6cd5\uff0c\u8fd8\u5305\u542b\u7cfb\u7edf\u7ea7\u652f\u6491\u6a21\u5757\uff0c\u4f8b\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CPU\u3001GPU\u3001\u5185\u5b58\u3001\u786c\u76d8\u548c\u7f51\u7edc\u76d1\u63a7\uff1b<\/li>\n\n\n\n<li>NTP \u65f6\u95f4\u540c\u6b65\u76d1\u63a7\uff1b<\/li>\n\n\n\n<li>\u8282\u70b9\u91cd\u590d\u68c0\u67e5\uff1b<\/li>\n\n\n\n<li>\u5904\u7406\u65f6\u95f4\u548c\u6d41\u6c34\u7ebf\u5ef6\u8fdf\u76d1\u63a7\uff1b<\/li>\n\n\n\n<li>\u7ec4\u4ef6\u72b6\u6001\u805a\u5408\uff1b<\/li>\n\n\n\n<li>\u8bca\u65ad\u5173\u7cfb\u56fe\uff1b<\/li>\n\n\n\n<li>\u5b9a\u4f4d\u3001\u611f\u77e5\u3001\u89c4\u5212\u548c\u63a7\u5236\u8bc4\u4f30\u5668\uff1b<br>-\u6545\u969c\u6ce8\u5165\u5de5\u5177\uff1b<\/li>\n\n\n\n<li>\u6700\u5c0f\u98ce\u9669\u7b56\u7565 MRM\uff1b<\/li>\n\n\n\n<li>\u8212\u9002\u505c\u8f66\u548c\u7d27\u6025\u505c\u8f66\u5904\u7406\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware_universe\/main\/\">Autoware Foundation<\/a>)<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u8fd8\u5b9a\u4e49\u4e86 AD API\uff0c\u7528\u4e8e\u628a\u5185\u90e8\u5927\u91cf ROS \u8bdd\u9898\u5c01\u88c5\u4e3a\u76f8\u5bf9\u7a33\u5b9a\u7684\u5916\u90e8\u63a5\u53e3\u3002HMI\u3001\u8fdc\u7a0b\u9a7e\u9a76\u7cfb\u7edf\u3001\u8f66\u961f\u7ba1\u7406\u5e73\u53f0\u3001\u8c03\u5ea6\u7cfb\u7edf\u6216\u5176\u4ed6\u5e94\u7528\u53ef\u4ee5\u901a\u8fc7\u8fd9\u4e9b\u63a5\u53e3\u83b7\u53d6\u8f66\u8f86\u72b6\u6001\u3001\u8bbe\u7f6e\u8def\u7ebf\u3001\u5207\u6362\u8fd0\u884c\u6a21\u5f0f\u548c\u67e5\u8be2\u8bca\u65ad\u4fe1\u606f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u76f8\u5e94\u7684\u6d88\u606f\u5b9a\u4e49\u5206\u5e03\u5728\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>autoware_msgs<\/code>\uff1a\u4e3b\u8981\u6a21\u5757\u4e4b\u95f4\u901a\u4fe1\uff1b<\/li>\n\n\n\n<li><code>autoware_internal_msgs<\/code>\uff1a\u6a21\u5757\u5185\u90e8\u901a\u4fe1\uff1b<\/li>\n\n\n\n<li><code>autoware_adapi_msgs<\/code>\uff1aAutoware \u4e0e HMI\u3001\u8fdc\u7a0b\u64cd\u4f5c\u3001\u8f66\u961f\u7ba1\u7406\u548c\u4eff\u771f\u7cfb\u7edf\u4e4b\u95f4\u901a\u4fe1\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/repository-structure\/\">Autoware Foundation<\/a>)<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">\u5341\u4e00\u3001\u4ee3\u7801\u4ed3\u5e93\u7ed3\u6784<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u5e76\u4e0d\u662f\u53ea\u6709\u4e00\u4e2a\u5305\u542b\u5168\u90e8\u6e90\u4ee3\u7801\u7684\u4ed3\u5e93\u3002\u9876\u5c42 <code>autoware<\/code> \u4ed3\u5e93\u66f4\u50cf\u4e00\u4e2a\u53d1\u884c\u7248\u548c\u5de5\u4f5c\u533a\u7ba1\u7406\u4ed3\u5e93\uff0c\u4fdd\u5b58\u4f9d\u8d56\u7248\u672c\u3001Docker\u3001Ansible\u3001\u5f00\u53d1\u73af\u5883\u548c <code>.repos<\/code> \u6587\u4ef6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3b\u8981\u4ee3\u7801\u4ed3\u5e93\u5305\u62ec\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>autoware_core<\/strong><br>\u4fdd\u5b58\u81ea\u52a8\u9a7e\u9a76\u6240\u5fc5\u9700\u3001\u8d28\u91cf\u8981\u6c42\u8f83\u9ad8\u3001\u7ecf\u8fc7\u8f83\u4e25\u683c\u6d4b\u8bd5\u7684\u5305\uff0c\u5305\u62ec\u611f\u77e5\u3001\u5b9a\u4f4d\u3001\u89c4\u5212\u548c\u63a7\u5236\u57fa\u7840\u6a21\u5757\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>autoware_universe<\/strong><br>\u4fdd\u5b58\u66f4\u4e30\u5bcc\u3001\u66f4\u524d\u6cbf\u6216\u5177\u6709\u8bd5\u9a8c\u6027\u8d28\u7684\u6a21\u5757\uff0c\u7531\u57fa\u91d1\u4f1a\u548c\u793e\u533a\u5171\u540c\u7ef4\u62a4\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>autoware_launch<\/strong><br>\u4fdd\u5b58\u4e0d\u540c\u8fd0\u884c\u914d\u7f6e\u7684\u542f\u52a8\u6587\u4ef6\uff0c\u53ef\u4ee5\u542f\u52a8\u5b8c\u6574\u4eff\u771f\u3001\u89c4\u5212\u4eff\u771f\u3001\u771f\u5b9e\u8f66\u8f86\u914d\u7f6e\u6216 rosbag \u56de\u653e\u914d\u7f6e\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>autoware_tools<\/strong><br>\u4fdd\u5b58\u8c03\u8bd5\u3001\u53ef\u89c6\u5316\u3001\u5206\u6790\u548c\u5f00\u53d1\u5de5\u5177\uff0c\u901a\u5e38\u4e0d\u53c2\u4e0e\u8f66\u8f86\u5b9e\u9645\u81ea\u52a8\u9a7e\u9a76\u8fd0\u884c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>autoware_utils<\/strong><br>\u4fdd\u5b58\u6570\u5b66\u3001\u51e0\u4f55\u3001\u7cfb\u7edf\u548c\u5176\u4ed6\u516c\u5171\u5de5\u5177\u5e93\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/repository-structure\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware Universe \u7684\u4ee3\u7801\u4ee5 C++ \u4e3a\u4e3b\u30022026\u5e747\u6708\u7684 GitHub \u7edf\u8ba1\u7ea6\u4e3a C++ 90.9%\u3001Python 4.1%\u3001CUDA 3.2%\uff0c\u8bf4\u660e\u6838\u5fc3\u5b9e\u65f6\u8282\u70b9\u4e3b\u8981\u91c7\u7528 C++\uff0cPython \u66f4\u591a\u7528\u4e8e\u5de5\u5177\u3001\u6a21\u578b\u548c\u8f85\u52a9\u811a\u672c\uff0cGPU \u7b97\u6cd5\u5219\u901a\u8fc7 CUDA\u3001TensorRT \u7b49\u6267\u884c\u3002(<a href=\"https:\/\/github.com\/autowarefoundation\/autoware_universe\">GitHub<\/a>)<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u5341\u4e8c\u3001\u5f00\u53d1\u73af\u5883\u548c\u5b89\u88c5\u65b9\u5f0f<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b98\u65b9\u652f\u6301 amd64 \u548c arm64 \u67b6\u6784\u3002\u7ed9\u51fa\u7684\u901a\u7528\u6700\u4f4e\u5efa\u8bae\u914d\u7f6e\u4e3a\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>8\u6838 CPU\uff1b<\/li>\n\n\n\n<li>16GB \u5185\u5b58\uff1b<\/li>\n\n\n\n<li>\u53ef\u9009 NVIDIA GPU\uff0c\u663e\u5b58\u81f3\u5c11\u7ea64GB\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u57fa\u7840\u5b9a\u4f4d\u3001\u89c4\u5212\u548c\u63a7\u5236\u53ef\u4ee5\u4e0d\u4f7f\u7528 GPU\uff0c\u4f46\u6fc0\u5149\u96f7\u8fbe\u795e\u7ecf\u7f51\u7edc\u76ee\u6807\u68c0\u6d4b\u3001\u6444\u50cf\u5934\u76ee\u6807\u68c0\u6d4b\u548c\u4ea4\u901a\u706f\u8bc6\u522b\u7b49\u529f\u80fd\u901a\u5e38\u9700\u8981 GPU\u3002\u5b9e\u9645\u8fd0\u884c\u5b8c\u6574\u591a\u4f20\u611f\u5668\u7cfb\u7edf\u65f6\uff0c4GB\u663e\u5b58\u5f80\u5f80\u53ea\u9002\u5408\u6700\u4f4e\u9650\u5ea6\u6d4b\u8bd5\uff0c\u5de5\u7a0b\u8f66\u8f86\u901a\u5e38\u9700\u8981\u66f4\u5f3a\u7684\u8ba1\u7b97\u5e73\u53f0\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/installation\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5e38\u7528\u5b89\u88c5\u65b9\u5f0f\u6709\u4e09\u79cd\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Docker \u955c\u50cf\uff1b<\/li>\n\n\n\n<li>\u4ece\u6e90\u4ee3\u7801\u7f16\u8bd1\uff1b<\/li>\n\n\n\n<li>Debian \u8f6f\u4ef6\u5305\u3002<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">Docker \u540c\u65f6\u63d0\u4f9b amd64\u3001arm64\u3001\u666e\u901a\u7248\u548c CUDA \u7248\uff0c\u5e76\u63d0\u4f9b ROS 2 Humble \u4e0e Jazzy \u955c\u50cf\u3002\u6e90\u7801\u5b89\u88c5\u6587\u6863\u76ee\u524d\u4e3b\u8981\u4ee5 Ubuntu 22.04 \u548c ROS 2 Humble \u4e3a\u4f8b\u3002\u6784\u5efa\u8fc7\u7a0b\u4f7f\u7528 <code>vcs<\/code>\/<code>vcs2l<\/code> \u83b7\u53d6\u591a\u4ed3\u5e93\u4ee3\u7801\uff0c\u4f7f\u7528 <code>rosdep<\/code> \u5b89\u88c5\u4f9d\u8d56\uff0c\u4f7f\u7528 <code>colcon<\/code> \u548c CMake \u7f16\u8bd1\uff1b\u5b98\u65b9\u8fd8\u63d0\u4f9b Ansible \u81ea\u52a8\u914d\u7f6e\u5f00\u53d1\u73af\u5883\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/installation\/autoware\/docker-installation\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u5341\u4e09\u3001\u4eff\u771f\u4e0e\u6d4b\u8bd5<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u652f\u6301\u591a\u79cd\u6d4b\u8bd5\u5c42\u7ea7\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u89c4\u5212\u4eff\u771f<\/strong>\u53ea\u8fd0\u884c\u5730\u56fe\u3001\u89c4\u5212\u548c\u63a7\u5236\u76f8\u5173\u6a21\u5757\uff0c\u7528\u865a\u62df\u8f66\u8f86\u548c\u865a\u62df\u969c\u788d\u7269\u9a8c\u8bc1\u53d8\u9053\u3001\u907f\u969c\u3001\u505c\u8f66\u3001\u4ea4\u53c9\u53e3\u548c\u4eba\u884c\u6a2a\u9053\u903b\u8f91\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Rosbag \u56de\u653e<\/strong>\u4f7f\u7528\u771f\u5b9e\u8f66\u8f86\u66fe\u7ecf\u8bb0\u5f55\u7684\u4f20\u611f\u5668\u6570\u636e\uff0c\u91cd\u590d\u8fd0\u884c\u5b9a\u4f4d\u6216\u611f\u77e5\u7b97\u6cd5\uff0c\u9002\u5408\u7b97\u6cd5\u8c03\u8bd5\u548c\u7248\u672c\u5bf9\u6bd4\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u573a\u666f\u4eff\u771f<\/strong>\u901a\u8fc7\u9884\u8bbe\u4ea4\u901a\u53c2\u4e0e\u8005\u3001\u9053\u8def\u6761\u4ef6\u548c\u4e8b\u4ef6\uff0c\u81ea\u52a8\u9a8c\u8bc1\u8f66\u8f86\u884c\u4e3a\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6570\u5b57\u5b6a\u751f\u4eff\u771f<\/strong>\u53ef\u4ee5\u4f7f\u7528 AWSIM\uff0c\u4e5f\u63d0\u4f9b CARLA\u3001MORAI \u548c PanoSim \u7b49\u96c6\u6210\u8def\u5f84\u3002\u5b98\u65b9\u5feb\u901f\u6f14\u793a\u5305\u62ec AWSIM \u5b8c\u6574\u81ea\u52a8\u9a7e\u9a76\u6f14\u793a\u3001Lane Driving\u3001Parking\u3001Lane Change\u3001Avoidance \u548c\u4ea4\u901a\u706f\u8bc6\u522b\u7b49\u573a\u666f\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/autoware-architecture-v1\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4eff\u771f\u80fd\u591f\u9a8c\u8bc1\u7b97\u6cd5\u529f\u80fd\uff0c\u5374\u4e0d\u80fd\u5b8c\u5168\u66ff\u4ee3\u771f\u5b9e\u9053\u8def\u6d4b\u8bd5\u3002\u771f\u5b9e\u8f66\u8f86\u8fd8\u4f1a\u9762\u4e34\u4f20\u611f\u5668\u632f\u52a8\u3001\u65f6\u95f4\u540c\u6b65\u6f02\u79fb\u3001\u8f6e\u80ce\u4fa7\u504f\u3001\u5236\u52a8\u5ef6\u8fdf\u3001\u6267\u884c\u5668\u6b7b\u533a\u3001\u9633\u5149\u53cd\u5c04\u3001\u96e8\u96ea\u3001\u906e\u6321\u548c\u8f66\u8f86\u7f51\u7edc\u5f02\u5e38\u7b49\u95ee\u9898\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u5341\u56db\u3001\u5c06 Autoware \u90e8\u7f72\u5230\u4e00\u8f86\u771f\u5b9e\u8f66\u8f86\u9700\u8981\u505a\u4ec0\u4e48<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ece\u201c\u6210\u529f\u8fd0\u884c\u5b98\u65b9\u4eff\u771f\u201d\u5230\u201c\u8f66\u8f86\u80fd\u591f\u81ea\u52a8\u9a7e\u9a76\u201d\uff0c\u901a\u5e38\u9700\u8981\u5b8c\u6210\u4ee5\u4e0b\u5de5\u7a0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u660e\u786e\u8fd0\u884c\u8bbe\u8ba1\u57df ODD\uff0c\u4f8b\u5982\u5c01\u95ed\u56ed\u533a\u3001\u56fa\u5b9a\u516c\u4ea4\u7ebf\u8def\u6216\u57ce\u5e02\u9053\u8def\uff1b<\/li>\n\n\n\n<li>\u9009\u62e9\u5e76\u5b89\u88c5\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u96f7\u8fbe\u3001GNSS\/INS \u548c\u8ba1\u7b97\u5e73\u53f0\uff1b<\/li>\n\n\n\n<li>\u7f16\u5199\u6216\u96c6\u6210\u5404\u4f20\u611f\u5668 ROS 2 \u9a71\u52a8\uff1b<\/li>\n\n\n\n<li>\u5b8c\u6210\u76f8\u673a\u5185\u53c2\u3001\u4f20\u611f\u5668\u5916\u53c2\u548c\u65f6\u95f4\u540c\u6b65\u6807\u5b9a\uff1b<\/li>\n\n\n\n<li>\u5efa\u7acb\u70b9\u4e91\u5730\u56fe\u548c Lanelet2 \u77e2\u91cf\u5730\u56fe\uff1b<\/li>\n\n\n\n<li>\u5efa\u7acb\u8f66\u8f86\u5c3a\u5bf8\u3001\u8f74\u8ddd\u3001\u8f6c\u5411\u9650\u5236\u548c\u52a8\u529b\u5b66\u53c2\u6570\uff1b<\/li>\n\n\n\n<li>\u5f00\u53d1\u7ebf\u63a7\u5e95\u76d8 Vehicle Interface\uff1b<\/li>\n\n\n\n<li>\u8c03\u6574\u5b9a\u4f4d\u3001\u611f\u77e5\u3001\u89c4\u5212\u548c\u63a7\u5236\u53c2\u6570\uff1b<\/li>\n\n\n\n<li>\u5728\u4eff\u771f\u3001\u53f0\u67b6\u548c\u5c01\u95ed\u573a\u5730\u9010\u7ea7\u6d4b\u8bd5\uff1b<\/li>\n\n\n\n<li>\u589e\u52a0\u72ec\u7acb\u5b89\u5168\u63a7\u5236\u5668\u3001\u7d27\u6025\u505c\u8f66\u3001\u5197\u4f59\u7535\u6e90\u548c\u901a\u4fe1\u76d1\u63a7\uff1b<\/li>\n\n\n\n<li>\u6839\u636e\u6240\u5728\u56fd\u5bb6\u6216\u5730\u533a\u5b8c\u6210\u9053\u8def\u6d4b\u8bd5\u8bb8\u53ef\u3001\u5b89\u5168\u8bba\u8bc1\u548c\u76d1\u7ba1\u8981\u6c42\u3002<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b98\u65b9\u6559\u7a0b\u672c\u8eab\u5c31\u662f\u6309\u7167\u201c\u521b\u5efa\u8f66\u8f86\u4e0e\u4f20\u611f\u5668\u6a21\u578b\u2014\u4f20\u611f\u5668\u6807\u5b9a\u2014\u8f66\u8f86\u63a5\u53e3\u2014\u521b\u5efa\u5730\u56fe\u2014\u542f\u52a8\u5404\u6a21\u5757\u2014\u53c2\u6570\u8c03\u4f18\u2014\u6027\u80fd\u8bc4\u4f30\u201d\u7684\u8def\u5f84\u7ec4\u7ec7\u7684\u3002\u8fd9\u4e5f\u8bf4\u660e Autoware \u662f\u4e00\u4e2a\u5de5\u7a0b\u5e73\u53f0\uff0c\u800c\u4e0d\u662f\u5b89\u88c5\u540e\u5373\u53ef\u76f4\u63a5\u63a5\u7ba1\u4efb\u610f\u6c7d\u8f66\u7684\u5e94\u7528\u7a0b\u5e8f\u3002(<a href=\"https:\/\/autowarefoundation.github.io\/autoware-documentation\/main\/design\/repository-structure\/\">Autoware Foundation<\/a>)<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u5341\u4e94\u3001Autoware \u7684\u4e3b\u8981\u4f18\u52bf<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u6700\u663e\u8457\u7684\u4ef7\u503c\u662f<strong>\u5b8c\u6574\u6027<\/strong>\u3002\u8bb8\u591a\u5f00\u6e90\u9879\u76ee\u53ea\u89e3\u51b3\u68c0\u6d4b\u3001SLAM \u6216\u89c4\u5212\u4e2d\u7684\u4e00\u4e2a\u95ee\u9898\uff0c\u800c Autoware \u63d0\u4f9b\u5b8c\u6574\u8f66\u8f86\u95ed\u73af\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b2c\u4e8c\u4e2a\u4f18\u52bf\u662f<strong>\u6a21\u5757\u5316<\/strong>\u3002\u7814\u7a76\u4eba\u5458\u53ef\u4ee5\u53ea\u66ff\u6362\u4e00\u4e2a\u5b9a\u4f4d\u5668\u3001\u611f\u77e5\u5668\u6216\u89c4\u5212\u5668\uff0c\u800c\u4e0d\u5fc5\u91cd\u65b0\u5f00\u53d1\u6574\u5957\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b2c\u4e09\u4e2a\u4f18\u52bf\u662f<strong>ROS 2 \u751f\u6001\u517c\u5bb9\u6027<\/strong>\u3002\u5927\u91cf\u673a\u5668\u4eba\u4f20\u611f\u5668\u9a71\u52a8\u3001\u53ef\u89c6\u5316\u5de5\u5177\u3001\u5f55\u5305\u5de5\u5177\u548c\u901a\u4fe1\u673a\u5236\u90fd\u53ef\u4ee5\u590d\u7528\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b2c\u56db\u4e2a\u4f18\u52bf\u662f<strong>\u540c\u65f6\u670d\u52a1\u79d1\u7814\u4e0e\u5de5\u7a0b\u5e94\u7528<\/strong>\u3002Universe \u5141\u8bb8\u5feb\u901f\u5f15\u5165\u65b0\u7b97\u6cd5\uff0cCore \u5219\u5f3a\u8c03\u63a5\u53e3\u7a33\u5b9a\u3001\u6d4b\u8bd5\u548c\u53d1\u5e03\u7ba1\u7406\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7b2c\u4e94\u4e2a\u4f18\u52bf\u662f<strong>\u914d\u5957\u5de5\u5177\u6bd4\u8f83\u5b8c\u6574<\/strong>\u3002\u5730\u56fe\u3001\u6807\u5b9a\u3001RViz \u53ef\u89c6\u5316\u3001\u8bca\u65ad\u3001\u4eff\u771f\u3001\u6545\u969c\u6ce8\u5165\u3001\u6027\u80fd\u8bc4\u4f30\u548c\u5bb9\u5668\u5316\u73af\u5883\u57fa\u672c\u90fd\u6709\u76f8\u5e94\u5165\u53e3\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u5341\u516d\u3001\u5c40\u9650\u548c\u5b9e\u9645\u4f7f\u7528\u96be\u70b9<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">Autoware \u7684\u6700\u5927\u96be\u70b9\u4e0d\u662f\u4e0b\u8f7d\u6216\u7f16\u8bd1\uff0c\u800c\u662f\u7cfb\u7edf\u96c6\u6210\u3002\u591a\u4f20\u611f\u5668\u65f6\u95f4\u540c\u6b65\u3001\u6807\u5b9a\u3001\u5730\u56fe\u5236\u4f5c\u3001\u5e95\u76d8\u63a7\u5236\u548c\u53c2\u6570\u8c03\u4f18\u9700\u8981\u81ea\u52a8\u9a7e\u9a76\u3001\u673a\u5668\u4eba\u3001\u8f66\u8f86\u5de5\u7a0b\u3001\u7f51\u7edc\u548c\u5d4c\u5165\u5f0f\u7b49\u591a\u65b9\u9762\u77e5\u8bc6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5176\u6b21\uff0c\u5b8c\u6574 Universe \u7684\u8282\u70b9\u548c\u4f9d\u8d56\u6570\u91cf\u8f83\u591a\uff0c\u542f\u52a8\u6587\u4ef6\u3001\u53c2\u6570\u6587\u4ef6\u3001TF \u6811\u548c ROS \u8bdd\u9898\u5173\u7cfb\u590d\u6742\u3002\u7248\u672c\u5347\u7ea7\u65f6\uff0c\u6d88\u606f\u63a5\u53e3\u3001\u53c2\u6570\u540d\u79f0\u3001\u6a21\u578b\u6587\u4ef6\u548c\u4ed3\u5e93\u7ec4\u5408\u4e5f\u53ef\u80fd\u53d1\u751f\u53d8\u5316\uff0c\u56e0\u6b64\u5b9e\u9645\u9879\u76ee\u901a\u5e38\u4f1a\u9501\u5b9a\u4e00\u4e2a\u6b63\u5f0f\u7248\u672c\uff0c\u800c\u4e0d\u662f\u957f\u671f\u8ddf\u968f <code>main<\/code> \u5206\u652f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u518d\u6b21\uff0cAutoware \u7684\u53c2\u8003\u65b9\u6848\u603b\u4f53\u4e0a\u4ecd\u7136\u504f\u5411\u9884\u5148\u5b9a\u4e49 ODD\u3001\u56fa\u5b9a\u4f20\u611f\u5668\u65b9\u6848\u548c\u5730\u56fe\u9a71\u52a8\u578b L4 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[&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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