自動駕駛代碼集成編譯與構建

① 求一段unity3D汽車自動駕駛的腳本代碼

1、把腳本直接連到汽車車身網格上，車身要有Rigidbody Component，要有四個輪子網格做子物體。 要想有聲音的話還要有AudioSource Component。

2、打開Inspector，選擇汽車腳本，把四個輪子連接到相對應的Transform參數上。設置wheelRadius參數為你輪子網格的大小。WheelCollider是自動生成的，所以無需手動添加。這樣就能保證運行了，其他的聲音和灰塵可以再添加。

腳本源代碼如下：*/
#pragma strict
//maximal corner and braking acceleration capabilities
var maxCornerAccel=10.0;
var maxBrakeAccel=10.0;
//center of gravity height - effects tilting in corners
var cogY = 0.0;
//engine powerband
var minRPM = 700;
var maxRPM = 6000;
//maximum Engine Torque
var maxTorque = 400;
//automatic transmission shift points
var shiftDownRPM = 2500;
var shiftUpRPM = 5500;
//gear ratios
var gearRatios = [-2.66, 2.66, 1.78, 1.30, 1.00];
var finalDriveRatio = 3.4;
//a basic handling modifier:
//1.0 understeer
//0.0 oversteer
var handlingTendency = 0.7;
//graphical wheel objects
var wheelFR : Transform;
var wheelFL : Transform;
var wheelBR : Transform;
var wheelBL : Transform;
//suspension setup
var suspensionDistance = 0.3;
var springs = 1000;
var dampers = 200;
var wheelRadius = 0.45;
//particle effect for ground st
var groundDustEffect : Transform;
private var queryUserInput = true;
private var engineRPM : float;
private var steerVelo = 0.0;
private var brake = 0.0;
private var handbrake = 0.0;
private var steer = 0.0;
private var motor = 0.0;
//private var skidTime = 0.0;
private var onGround = false;
private var cornerSlip = 0.0;
private var driveSlip = 0.0;
private var wheelRPM : float;
private var gear = 1;
//private var skidmarks : Skidmarks;
private var wheels : WheelData[];
private var wheelY = 0.0;
private var rev = 0.0;
//Functions to be used by external scripts
//controlling the car if required
//===================================================================
//return a status string for the vehicle
function GetStatus(gui : GUIText) {
gui.text="v="+(rigidbody.velocity.magnitude * 3.6).ToString("f1") km/h\ngear= "+gear+"\nrpm= "+engineRPM.ToString("f0");
}
//return an information string for the vehicle
function GetControlString(gui : GUIText) {
gui.text="Use arrow keys to control the jeep,\nspace for handbrake."; }
//Enable or disable user controls
function SetEnableUserInput(enableInput)
{
queryUserInput=enableInput;
}
//Car physics
//===================================================================
//some whee calculation data
class WheelData{ + "
var rotation = 0.0;
var coll : WheelCollider;
var graphic : Transform;
var maxSteerAngle = 0.0;
var lastSkidMark = -1;
var powered = false;
var handbraked = false;
var originalRotation : Quaternion;
};
function Start () {
//setup wheels
wheels=new WheelData[4];
for(i=0;i<4;i++)
wheels[i] = new WheelData();

wheels[0].graphic = wheelFL;
wheels[1].graphic = wheelFR;
wheels[2].graphic = wheelBL;
wheels[3].graphic = wheelBR;
wheels[0].maxSteerAngle=30.0;
wheels[1].maxSteerAngle=30.0;
wheels[2].powered=true;
wheels[3].powered=true;
wheels[2].handbraked=true;
wheels[3].handbraked=true;
for(w in wheels)
{
if(w.graphic==null)
Debug.Log("You need to assign all four wheels for the car script!"); if(!w.graphic.transform.IsChildOf(transform))
Debug.Log("Wheels need to be children of the Object with the car script");
w.originalRotation = w.graphic.localRotation;
//create collider
colliderObject = new GameObject("WheelCollider");
colliderObject.transform.parent = transform;
colliderObject.transform.position = w.graphic.position;
w.coll = colliderObject.AddComponent(WheelCollider);
w.coll.suspensionDistance = suspensionDistance;
w.coll.suspensionSpring.spring = springs;
w.coll.suspensionSpring.damper = dampers;
//no grip, as we simulate handling ourselves
w.coll.forwardFriction.stiffness = 0;
w.coll.sidewaysFriction.stiffness = 0;
w.coll.radius = wheelRadius;
}
//get wheel height (height forces are applied on)
wheelY=wheels[0].graphic.localPosition.y;

//setup center of gravity
rigidbody.centerOfMass.y = cogY;

//find skidmark object
// skidmarks = FindObjectOfType(typeof(Skidmarks));

//shift to first
gear=1;
}
//update wheel status
function UpdateWheels()
{
//calculate handbrake slip for traction gfx
handbrakeSlip=handbrake*rigidbody.velocity.magnitude*0.1;
if(handbrakeSlip>1)
handbrakeSlip=1;

totalSlip=0.0;
onGround=false;
for(w in wheels)
{
//rotate wheel
w.rotation += wheelRPM / 60.0 * -rev * 360.0 * Time.fixedDeltaTime; w.rotation = Mathf.Repeat(w.rotation, 360.0);
w.graphic.localRotation= Quaternion.Euler( w.rotation, w.maxSteerAngle*steer, 0.0 ) * w.originalRotation;
//check if wheel is on ground
if(w.coll.isGrounded)
onGround=true;

slip = cornerSlip+(w.powered?driveSlip:0.0)+(w.handbraked?handbrakeSlip:0.0); totalSlip += slip;

var hit : WheelHit;
var c : WheelCollider;
c = w.coll;
if(c.GetGroundHit(hit))
{
//if the wheel touches the ground, adjust graphical wheel position to reflect springs

w.graphic.localPosition.y-=Vector3.Dot(w.graphic.position-hit.point,transform.up)-w.coll.radius;

//create st on ground if appropiate
if(slip>0.5 && hit.collider.tag=="Dusty")
{
groundDustEffect.position=hit.point;

groundDustEffect.particleEmitter.worldVelocity=rigidbody.velocity*0.5; groundDustEffect.particleEmitter.minEmission=(slip-0.5)*3; groundDustEffect.particleEmitter.maxEmission=(slip-0.5)*3;
groundDustEffect.particleEmitter.Emit(); }

//and skid marks
/*if(slip>0.75 && skidmarks != null)

w.lastSkidMark=skidmarks.AddSkidMark(hit.point,hit.normal,(slip-0.75)*2,w.lastSkidMark);
else
w.lastSkidMark=-1; */
}
// else w.lastSkidMark=-1;
}
totalSlip/=wheels.length;
}
//Automatically shift gears
function AutomaticTransmission()
{
if(gear>0)
{
if(engineRPM>shiftUpRPM&&gear<gearRatios.length-1)
gear++;
if(engineRPM<shiftDownRPM&&gear>1)
gear--;
}
}
//Calculate engine acceleration force for current RPM and trottle
function CalcEngine() : float
{
if(brake+handbrake>0.；motor=0.0;；//ifcarisairborne,justre；if(!onGround)；engineRPM+=(motor-0.3)*2；engineRPM=Mathf.Clamp(en；return0.0;；else；AutomaticTransmission();；engineRPM=whee
if(brake+handbrake>0.1)

motor=0.0;

//if car is airborne, just rev engine

if(!onGround)

{

engineRPM += (motor-0.3)*25000.0*Time.deltaTime;

engineRPM = Mathf.Clamp(engineRPM,minRPM,maxRPM);

return 0.0;

}

else

{

AutomaticTransmission();

engineRPM=wheelRPM*gearRatios[gear]*finalDriveRatio;

if(engineRPM<minRPM)

engineRPM=minRPM;

if(engineRPM<maxRPM)

{

//fake a basic torque curve

x = (2*(engineRPM/maxRPM)-1);

torqueCurve = 0.5*(-x*x+2);

torqueToForceRatio = gearRatios[gear]*finalDriveRatio/wheelRadius; return
motor*maxTorque*torqueCurve*torqueToForceRatio;

}

else

//rpm delimiter

return 0.0;

}

}

//Car physics

//The physics of this car are really a trial-and-error based extension of
//basic "Asteriods" physics -- so you will get a pretty arcade-like feel. //This
may or may not be what you want, for a more physical approach research //the
wheel colliders

function HandlePhysics () {

var velo=rigidbody.velocity;

wheelRPM=velo.magnitude*60.0*0.5;

rigidbody.angularVelocity=new

Vector3(rigidbody.angularVelocity.x,0.0,rigidbody.angularVelocity.z);
dir=transform.TransformDirection(Vector3.forward);

flatDir=Vector3.Normalize(new Vector3(dir.x,0,dir.z));

flatVelo=new Vector3(velo.x,0,velo.z);

rev=Mathf.Sign(Vector3.Dot(flatVelo,flatDir));

//when moving backwards or standing and brake is pressed, switch to
reverse

if((rev<0||flatVelo.sqrMagnitude<0.5)&&brake>0.1)

gear=0;

if(gear==0)

{

//when in reverse, flip brake and gas

tmp=brake;

brake=motor;

motor=tmp;

//when moving forward or standing and gas is pressed, switch to drive
if((rev>0||flatVelo.sqrMagnitude<0.5)&&brake>0.1)

gear=1;

}

engineForce=flatDir*CalcEngine();

totalbrake=brake+handbrake*0.5;

if(totalbrake>1.0)totalbrake=1.0;

brakeForce=-flatVelo.normalized*totalbrake*rigidbody.mass*maxBrakeAccel;
flatDir*=flatVelo.magnitude;

flatDir=Quaternion.AngleAxis(steer*30.0,Vector3.up)*flatDir;

flatDir*=rev;

diff=(flatVelo-flatDir).magnitude;

cornerAccel=maxCornerAccel;

if(cornerAccel>diff)cornerAccel=diff;

cornerForce=-(flatVelo-flatDir).normalized*cornerAccel*rigidbody.mass;
cornerSlip=Mathf.Pow(cornerAccel/maxCornerAccel,3);

rigidbody.AddForceAtPosition(brakeForce+engineForce+cornerForce,transform.position+transform.up*wheelY);

handbrakeFactor=1+handbrake*4;

if(rev<0)

handbrakeFactor=1;

veloSteer=((15/(2*velo.magnitude+1))+1)*handbrakeFactor;

steerGrip=(1-handlingTendency*cornerSlip);

if(rev*steer*steerVelo<0)

steerGrip=1;

maxRotSteer=2*Time.fixedDeltaTime*handbrakeFactor*steerGrip;

fVelo=velo.magnitude;

veloFactor=fVelo<1.0?fVelo:Mathf.Pow(velo.magnitude,0.3);

steerVeloInput=rev*steer*veloFactor*0.5*Time.fixedDeltaTime*handbrakeFactor;
if(velo.magnitude<0.1)

steerVeloInput=0;

if(steerVeloInput>steerVelo)

{

steerVelo+=0.02*Time.fixedDeltaTime*veloSteer;

if(steerVeloInput<steerVelo)

steerVelo=steerVeloInput;

}

else

{

steerVelo-=0.02*Time.fixedDeltaTime*veloSteer;

if(steerVeloInput>steerVelo)

steerVelo=steerVeloInput;

}

steerVelo=Mathf.Clamp(steerVelo,-maxRotSteer,maxRotSteer);
transform.Rotate(Vector3.up*steerVelo*57.295788);

}

function FixedUpdate () {

//query input axes if necessarry

if(queryUserInput)

{

brake = Mathf.Clamp01(-Input.GetAxis("Vertical"));

handbrake = Input.GetButton("Jump")?1.0:0.0;

steer = Input.GetAxis("Horizontal");

motor = Mathf.Clamp01(Input.GetAxis("Vertical"));

}

else

{

motor = 0;

steer = 0;

brake = 0;

handbrake = 0;

}

//if car is on ground calculate handling, otherwise just rev the engine
if(onGround)

HandlePhysics();

else

CalcEngine();

//wheel GFX

UpdateWheels();

//engine sounds

audio.pitch=0.5+0.2*motor+0.8*engineRPM/maxRPM;

audio.volume=0.5+0.8*motor+0.2*engineRPM/maxRPM;

}

//Called by DamageReceiver if boat destroyed

function Detonate()

{

//destroy wheels

for( w in wheels )

w.coll.gameObject.active=false; //no more car physics

enabled=false;

}

② 現在學計算機發展前景怎麼樣

大學計算機專業的就業前景如何？

現在我們的生活發生了翻天覆地的變化，我們現在已經是進入到了新的時代我們稱之為「數字時代」，現在的「數字時代」是一個以高科技為基礎的。而現在我們的條件已經變得基本已經變得挺好了，所以我們現在大部人都會選擇去進行考取大學。而進入到大學之後我們會進行選擇一些專業課進行學習，這次的專業對於我們而言是非常重要的，因為可以幫助我們在社會當中立足，所以我們在進入之後是要進行慎重的選擇這些專業的。

而現在因為是一個高科技的時代，所以就會有許多人選擇計算機專業，那麼在畢業之後選擇計算機專業是否會有一個較好的前景呢？

現在機會是留給有準備的人的，只要我們能夠在進入社會之前學會並且精通各種專業知識我們就能夠在未來中有一定的一席之地。所以我們一定是要好好的學習，精通這種知識以及各方面的道理只有這樣我們才能夠做到超出別人。

③ 地平線征程5：國產大算力自動駕駛晶元即將量產！

駕駛輔助功能作為車企在新能源時代新的技術護城河之一，在當下受到的關注與日俱增，決定一台車駕駛輔助能力的，除了有能夠看得見摸得著的激光雷達、攝像頭這類感知感測器，在看不到的地方自動駕駛晶元同樣至關重要，它的性能高低直接決定，感知感測器採集到的信息能否被准確、快速的處理。那麼對於高階的駕駛輔助功能，甚至是自動駕駛，我們需要什麼樣性能的自動駕駛晶元呢？

④ 如何理解持續集成、持續交付、持續部署

我們經常聽到持續集成，持續交付，持續部署，它們是什麼，聯系和區別是什麼?讓我告訴你我的想法。

是什麼

集成指軟體作為軟體的一部分的部分交付，以盡早發現個體開發部分的問題;

部署是能夠盡早交付到運行的開發/測試部分的代碼，以便盡早進行測試;

交付是指研究和開發盡快交付給客戶，以便盡早發現生產環境中的問題。

⑤ 如何使用gitlab和rancher構建ci/cd流水線

CI是Continuous Integration的簡稱，就是持續集成的意思。
就是說你代碼改動了，測試了，提交了，持續集成系統會自動構建（編譯等等）。持續集成的理念是每個提交的版本都應該是可交付的，至少是可以實際運行的，然後通過自動化構建來確保這一點（因為如果構建什麼手動做的話，構建就會花去很多精力，每提交一個版本都構建一次不太現實）。
gitlab CI是配合gitlab的一套CI。（當然，gitlab也可以和別的CI配合，比如Travis CI。）

⑥ 自動駕駛又一PK戰場，BAT誰占車路協同先機

[億歐導讀]?車路協同是一場馬拉松。

道路上的車輛/Unplash

而對於企業而言，車路協同的商業模式成為重要討論議題。

多位從業者向億歐汽車表達了擔憂，他們認為車路協同當下商業模式並不明顯。阿里雲通用能力中心高級解決方案架構師趙聖強表示，當下，車路協同方面雖然各個企業已經展開了相關研究和探索，但目前，整個行業內並沒有找到一條清晰的商業模式，還需要時間試錯。

編輯：張嫣

本文來源於汽車之家車家號作者，不代表汽車之家的觀點立場。