自动驾驶代码集成编译与构建

① 求一段unity3D汽车自动驾驶的脚本代码

1、把脚本直接连到汽车车身网格上，车身要有Rigidbody Component，要有四个轮子网格做子物体。 要想有声音的话还要有AudioSource Component。

2、打开Inspector，选择汽车脚本，把四个轮子连接到相对应的Transform参数上。设置wheelRadius参数为你轮子网格的大小。WheelCollider是自动生成的，所以无需手动添加。这样就能保证运行了，其他的声音和灰尘可以再添加。

脚本源代码如下：*/
#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 现在学计算机发展前景怎么样

大学计算机专业的就业前景如何？

现在我们的生活发生了翻天覆地的变化，我们现在已经是进入到了新的时代我们称之为“数字时代”，现在的“数字时代”是一个以高科技为基础的。而现在我们的条件已经变得基本已经变得挺好了，所以我们现在大部人都会选择去进行考取大学。而进入到大学之后我们会进行选择一些专业课进行学习，这次的专业对于我们而言是非常重要的，因为可以帮助我们在社会当中立足，所以我们在进入之后是要进行慎重的选择这些专业的。

而现在因为是一个高科技的时代，所以就会有许多人选择计算机专业，那么在毕业之后选择计算机专业是否会有一个较好的前景呢？

现在机会是留给有准备的人的，只要我们能够在进入社会之前学会并且精通各种专业知识我们就能够在未来中有一定的一席之地。所以我们一定是要好好的学习，精通这种知识以及各方面的道理只有这样我们才能够做到超出别人。

③ 地平线征程5：国产大算力自动驾驶芯片即将量产！

驾驶辅助功能作为车企在新能源时代新的技术护城河之一，在当下受到的关注与日俱增，决定一台车驾驶辅助能力的，除了有能够看得见摸得着的激光雷达、摄像头这类感知传感器，在看不到的地方自动驾驶芯片同样至关重要，它的性能高低直接决定，感知传感器采集到的信息能否被准确、快速的处理。那么对于高阶的驾驶辅助功能，甚至是自动驾驶，我们需要什么样性能的自动驾驶芯片呢？

④ 如何理解持续集成、持续交付、持续部署

我们经常听到持续集成，持续交付，持续部署，它们是什么，联系和区别是什么?让我告诉你我的想法。

是什么

集成指软件作为软件的一部分的部分交付，以尽早发现个体开发部分的问题;

部署是能够尽早交付到运行的开发/测试部分的代码，以便尽早进行测试;

交付是指研究和开发尽快交付给客户，以便尽早发现生产环境中的问题。

⑤ 如何使用gitlab和rancher构建ci/cd流水线

CI是Continuous Integration的简称，就是持续集成的意思。
就是说你代码改动了，测试了，提交了，持续集成系统会自动构建（编译等等）。持续集成的理念是每个提交的版本都应该是可交付的，至少是可以实际运行的，然后通过自动化构建来确保这一点（因为如果构建什么手动做的话，构建就会花去很多精力，每提交一个版本都构建一次不太现实）。
gitlab CI是配合gitlab的一套CI。（当然，gitlab也可以和别的CI配合，比如Travis CI。）

⑥ 自动驾驶又一PK战场，BAT谁占车路协同先机

[亿欧导读]?车路协同是一场马拉松。

道路上的车辆/Unplash

而对于企业而言，车路协同的商业模式成为重要讨论议题。

多位从业者向亿欧汽车表达了担忧，他们认为车路协同当下商业模式并不明显。阿里云通用能力中心高级解决方案架构师赵圣强表示，当下，车路协同方面虽然各个企业已经展开了相关研究和探索，但目前，整个行业内并没有找到一条清晰的商业模式，还需要时间试错。

编辑：张嫣

本文来源于汽车之家车家号作者，不代表汽车之家的观点立场。