{"id":10285,"date":"2025-01-01T11:19:22","date_gmt":"2025-01-01T03:19:22","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=10285"},"modified":"2025-02-24T17:08:34","modified_gmt":"2025-02-24T09:08:34","slug":"autoware-%e4%bd%bf%e7%94%a8tier-iv%e7%bb%98%e5%88%b6lanelet2%e5%9c%b0%e5%9b%be","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=10285","title":{"rendered":"Autoware\u2014\u4f7f\u7528TIER IV\u7ed8\u5236Lanelet2\u9ad8\u7cbe\u5730\u56fe"},"content":{"rendered":"<p>\u4e4b\u524d\u6211\u4eec\u5c1d\u8bd5\u4e86\u4f7f\u7528Unity\u7684MapToolBox\u63d2\u4ef6\u6765\u7ed8\u5236VectorMap\u5730\u56fe\uff0c\u5e76\u5728Autoware.ai\u7248\u672c\u4e2d\u6b63\u5e38\u7528\u4e8e\u5bfc\u822a\u3002\u7531\u4e8eAutoware.universe\u7248\u672c\u91cc\u6709\u4e0d\u5c11\u4e0d\u9519\u7684\u80fd\u529b\uff0c\u4f46\u662f\u5b83\u53ea\u652f\u6301Lanelet2\u5730\u56fe\uff0c\u53e6\u5916MapToolBox\u63d2\u4ef6\u7f3a\u4e4f\u7ea2\u7eff\u706f\u7b49\u4ea4\u901a\u6807\u8bc6\u7684\u652f\u6301\uff0c\u56e0\u6b64\u672c\u6587\u5c1d\u8bd5\u4f7f\u7528TIER IV\u7ed8\u5236Lanelet2\u7684\u9ad8\u7cbe\u5730\u56fe\u3002<\/p>\n<h1>\u4e00\u3001\u6982\u8ff0<\/h1>\n<h4>1. Lanelet2\u7b80\u4ecb<\/h4>\n<p>Lanelet2\u9ed8\u8ba4\u7684\u683c\u5f0f\u4e3aXML\u5f62\u5f0f\u7684OSM\u5730\u56fe\u683c\u5f0f\uff0c\u53ef\u4ee5\u4f7f\u7528OSM\u5730\u56fe\u7f16\u8f91\u5668\u8fdb\u884c\u7f16\u8f91\u548c\u53ef\u89c6\u5316\u3002Lanelet2\u5047\u5b9a\u5730\u56fe\u4e2d\u7684\u6240\u6709\u5143\u7d20\u5747\u80fd\u6295\u5c04\u5230\u5e73\u9762\uff0c\u4e0d\u8fc7\u5143\u7d20\u7684\u9ad8\u5ea6\u4fe1\u606f\u4e5f\u4f1a\u88ab\u4fdd\u5b58\uff0c\u4ee5\u907f\u514d\u5c06\u7acb\u4ea4\u6865\u5904\u7406\u6210\u5341\u5b57\u8def\u53e3\u7684\u60c5\u51b5\u3002\u5f53\u52a0\u8f7d\u5730\u56fe\u7684\u65f6\u5019\uff0c\u4e3a\u4e86\u65b9\u4fbf\u5730\u56fe\u7684\u4f7f\u7528\uff0c\u4f1a\u91c7\u7528\u901a\u7528\u83ab\u5361\u6258\u6295\u5c04\uff08UTM\uff0cUniversal Transverse Mercator\uff09\u5c06\u5730\u56fe\u6295\u5c04\u5230\u7b1b\u5361\u5c14\u5750\u6807\u7cfb\u3002<\/p>\n<p>Lanelet2\u9ad8\u7cbe\u5ea6\u5730\u56fe\u67b6\u6784\u53ef\u4ee5\u5212\u5206\u4e3a3\u5c42\uff1a<\/p>\n<ul>\n<li>\u7269\u7406\u5c42\uff08physical layer\uff09\uff1a\u53ef\u4ee5\u88ab\u89c2\u6d4b\u5230\u7684\u8981\u7d20\u4e3a\u5730\u56fe\u7684\u7269\u7406\u5c42\uff0c\u8bf8\u5982\u8def\u6807\u3001\u7ea2\u7eff\u706f\u3001\u4ea4\u901a\u6807\u5fd7\u3001\u9632\u649e\u680f\u7b49\u7b49\u3002\u5176\u4ed6\u7684\u6240\u6709\u5730\u56fe\u5143\u7d20\uff0c\u6bd4\u5982\u8f66\u9053\uff08lane\uff09\uff0c\u662f\u8fd9\u4e9b\u7269\u7406\u5143\u7d20\u7684\u4e00\u79cd\u62bd\u8c61\u8868\u793a\u3002<\/li>\n<li>\u5173\u8054\u5c42\uff08relational layer\uff09\uff1a\u4ea4\u901a\u89c4\u5219\u662f\u89c4\u5219\u6e90\uff08\u4f8b\u5982\u4ea4\u901a\u4fe1\u53f7\u706f\uff09\u4e0e\u5176\u6240\u5e94\u7528\u7684\u8f66\u9053\u4e4b\u95f4\u7684\u5173\u8054\u3002\u6839\u636e\u8fd9\u4e9b\u7269\u7406\u5143\u7d20\u6211\u4eec\u53ef\u4ee5\u8ffd\u8e2a\u8fd9\u4e9b\u5173\u8054\u4fe1\u606f\uff0c\u6211\u4eec\u79f0\u8fd9\u4e9b\u5143\u7d20\u4e3a\u5730\u56fe\u7684\u5173\u8054\u5c42\u3002<\/li>\n<li>\u62d3\u6251\u5c42\uff08topological layer\uff09\uff1a\u7136\u800c\uff0c\u5e76\u975e\u5730\u56fe\u7684\u6240\u6709\u5143\u7d20\u90fd\u53ef\u4ee5\u4e0e\u7269\u7406\u5c42\u76f8\u5173\u8054\uff0c\u56e0\u4e3a\u9053\u8def\u4ea4\u901a\u4e2d\u5f80\u5f80\u4f1a\u5305\u542b\u9690\u542b\u7684\u89c4\u5219\uff0c\u6bd4\u5982\u8bf4\u5728\u8def\u53e3\u5185\uff0c\u8f66\u9053\u7ebf\u548c\u8f66\u9053\u8fb9\u7f18\u5e76\u6ca1\u6709\u753b\u51fa\u6765\uff0c\u4f46\u662f\u5b83\u4eec\u662f\u5b58\u5728\u7684\uff0cHAD map\u5fc5\u987b\u5305\u542b\u8fd9\u4e9b\u9690\u542b\u7684\u5143\u7d20\u4ee5\u4fdd\u8bc1\u8def\u7f51\u62d3\u6251\u7684\u8fde\u901a\u6027\uff0c\u8fd9\u4e9b\u5143\u7d20\u90fd\u662f\u6211\u4eec\u7684\u884c\u4e3a\u201c\u5e38\u8bc6\u201d\u5f15\u5165\u7684\uff0c\u4e0d\u548c\u5b9e\u9645\u7684\u53ef\u89c2\u6d4b\u5143\u7d20\u5173\u8054\uff0c\u5373\u62d3\u6251\u5c42\u3002<\/li>\n<\/ul>\n<h4>2. Lanelet2\u57fa\u7840\u5143\u7d20<\/h4>\n<p>Lanelet2\u5730\u56fe\u4e3b\u8981\u5305\u542b6\u7c7b\u57fa\u5143\uff1a<\/p>\n<ul>\n<li>Points\uff1a\u70b9<\/li>\n<li>Linestrings: \u7531\u70b9\u524d\u540e\u8fde\u63a5\u6784\u6210\u7684\u6298\u7ebf\u5e8f\u5217<\/li>\n<li>Polygons\uff1a\u591a\u8fb9\u5f62<\/li>\n<li>Lanelets\uff1a\u8f66\u9053\u7684\u539f\u5b50\u5355\u5143\uff0c\u6216\u8005\u8bf4\u5bf9\u8f66\u9053\u7684\u6700\u5c0f\u5212\u5206<\/li>\n<li>Areas\uff1a\u533a\u57df\uff0c\u7c7b\u4f3c\u4e0elanelet\uff0c\u4f46\u662f\u5b83\u4e00\u822c\u7528\u4e8e\u63cf\u8ff0\u5efa\u7b51\u3001\u505c\u8f66\u533a\u7b49\u72ec\u7acb\u533a\u57df<\/li>\n<li>Regulatory elements\uff1a\u63a7\u5236\u5143\u7d20\uff0c\u80fd\u4ea7\u751f\u4ea4\u901a\u89c4\u5219\u7684\u5143\u7d20\uff0c\u5982\u4fe1\u53f7\u706f\u3001\u9650\u901f\u724c\u7b49<\/li>\n<\/ul>\n<p>\u524d\u4e09\u7c7b\u4e3a\u7269\u7406\u5c42\uff0c\u5176\u4f59\u4e3a\u5173\u8054\u5c42\uff0c\u6bcf\u4e00\u4e2a\u5143\u7d20\u90fd\u6709\u81ea\u5df1\u552f\u4e00\u7684ID\u3002<\/p>\n<h4>3. Lanelet2\u9879\u76ee\u5404\u4e2a\u6a21\u5757<\/h4>\n<p>Lanelet2\u8bba\u6587\u7684\u53e6\u5916\u4e00\u4e2a\u5de5\u4f5c\u5c31\u662f\u57fa\u4e8e\u4ee5\u4e0a\u8bbe\u8ba1\u7406\u5ff5\u548c\u57fa\u672c\u8981\u7d20\u5f00\u6e90\u4e86\u4e00\u5957C++\u7f16\u5199\u7684\u5730\u56fe\u6846\u67b6\uff0clanelet2\u9879\u76ee\u4f9d\u9760catkin\u7f16\u8bd1\uff0c\u6240\u4ee5\u6bcf\u4e2a\u6a21\u5757\u90fd\u662f\u4ee5ros package\u7684\u5f62\u5f0f\u8fdb\u884c\u7ba1\u7406\uff0c\u5404\u4e2a\u6a21\u5757\u5185\u5bb9\u5982\u4e0b\uff1a<\/p>\n<ul>\n<li>lanelet2\uff1a\u57fa\u7840\u6a21\u5757\uff0c\u6ca1\u6709\u5177\u4f53\u5b9e\u73b0<\/li>\n<li>lanelet2_core\uff1a\u5b9e\u73b0\u4e86\u57fa\u5143\u3001\u5730\u7406\u8ba1\u7b97\u7b49\u6838\u5fc3\u5e93<\/li>\n<li>lanelet2_io\uff1alanelet\u5730\u56fe\u7684IO\u5e93<\/li>\n<li>lanelet2_traffic_rules\uff1a\u63d0\u4f9b\u5730\u56fe\u4ea4\u901a\u89c4\u5219\u7684\u652f\u6301<\/li>\n<li>lanelet2_projection\uff1a\u63d0\u4f9bWGS84\u5750\u6807\u7cfb\u5230\u6307\u5b9a\u5750\u6807\u7cfb\u4e0b\u7684\u6295\u5f71\u7684\u5b9e\u73b0<\/li>\n<li>lanelet2_routing\uff1a\u63d0\u4f9b\u57fa\u4e8elanelet\u5730\u56fe\u7684routing\u529f\u80fd<\/li>\n<li>lanelet2_maps\uff1alanelet2\u5b98\u65b9\u63d0\u4f9b\u7684\u793a\u4f8b\u5730\u56fe<\/li>\n<li>lanelet2_python\uff1alanelet2\u7684python\u63a5\u53e3<\/li>\n<li>lanelet2_validation\uff1a\u9a8c\u8bc1Lanelet2\u5730\u56fe<\/li>\n<li>lanelet2_examples\uff1a\u6559\u7a0b\u548c\u793a\u4f8b<\/li>\n<\/ul>\n<h1>\u4e8c\u3001\u73af\u5883\u51c6\u5907<\/h1>\n<h4>1. lanelet2\u5e93\u7f16\u8bd1\u5b89\u88c5<\/h4>\n<p>\u5efa\u8bae\u5728ubuntu18 ros1\u6216ubuntu22 ros2\u4e0b\u7684autoware\u73af\u5883\u4e0b\u8fd0\u884clanelet2\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># depend\r\nsudo apt-get install ros-$ROS_DISTRO-rospack ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-mrt-cmake-modules ros-$ROS_DISTRO-unique-id\r\nsudo apt-get install libboost-dev libeigen3-dev libgeographic-dev libpugixml-dev libpython3-dev libboost-python-dev python3-catkin-tools\r\n\r\n# install\r\nsudo apt-get install ros-$ROS_DISTRO-lanelet2-core ros-$ROS_DISTRO-lanelet2-validation ros-$ROS_DISTRO-lanelet2-io ros-$ROS_DISTRO-lanelet2-maps ros-$ROS_DISTRO-lanelet2-projection ros-$ROS_DISTRO-lanelet2-routing ros-$ROS_DISTRO-lanelet2-traffic-rules\r\n\r\n# build\r\nmkdir ~\/catkin_lanelet2 &amp;&amp; cd ~\/catkin_lanelet2 &amp;&amp; mkdir src\r\ncatkin init\r\n# build in release mode (or whatever you prefer)\r\ncatkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo\r\ncd src\r\ngit clone git@github.com:yanjingang\/ad_with_lanelet2.git\r\ncd ..\r\ncatkin build\r\n<\/code><\/pre>\n<h4>2. \u4eff\u771f\u6d4b\u8bd5<\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\">cd ~\/catkin_lanelet2\r\nsource devel\/setup.bash\r\nroslaunch src\/ad_with_lanelet2\/run_map_simulator.launch\r\n<\/code><\/pre>\n<p>run_map_simulator.launch\u5185\u5bb9\u5982\u4e0b\uff0c\u4e00\u5171\u4f1a\u542f\u52a84\u4e2aros node\uff1a<\/p>\n<ul>\n<li>planning\u4eff\u771f\u8282\u70b9\uff1a\u6765\u81eaAutoware\u7684\u7b80\u5355planning\u4eff\u771f<\/li>\n<li>map loader\uff1a\u52a0\u8f7dAutoware\u6269\u5c55\u7248lanelet2\u5730\u56fe\uff0c\u53d1\u9001\u7528\u4e8e\u53ef\u89c6\u5316\u7684Rviz marker\uff0c\u4ee5ros msg\u7684\u5f62\u5f0f\u53d1\u9001map<\/li>\n<li>mission planning\u6a21\u5757\uff1a\u6765\u81eaAutoware\u7684\u4efb\u52a1\u89c4\u5212\u6a21\u5757\uff0c\u5728\u672c\u4f8b\u4e2d\u4e3b\u8981\u4f7f\u7528\u4e86Routing\u8def\u7ebf\u751f\u6210<\/li>\n<li>Rviz\uff1a\u542f\u52a8Rviz\u5e76\u4f7f\u7528\u9884\u5148\u8bbe\u7f6e\u7684\u914d\u7f6e\u53c2\u6570<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-sim.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10291\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-sim-1024x506.png\" alt=\"\" width=\"625\" height=\"309\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-sim-1024x506.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-sim-300x148.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-sim-768x379.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-sim-624x308.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-sim.png 1350w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u6ce8\uff1a\u8be5\u6837\u4f8b\u5730\u56fe\u4e3aTier 4\u516c\u53f8\uff08Autoware\u7684\u4e3b\u8981\u7ef4\u62a4\u8005\uff09\u5f00\u6e90\u7684\u5730\u56fe\uff0c\u5728\u65e5\u672c\uff0c\u6240\u4ee5\u662f\u9760\u5de6\u884c\u9a76\uff0crouting\u7684\u65f6\u5019\u9700\u8981\u6309\u7167\u9760\u5de6\u884c\u9a76\u7684\u89c4\u5219\u8bbe\u5b9a\u8d77\u7ec8\u70b9\u3002<\/p>\n<h1>\u4e09\u3001\u5730\u56fe\u7ed8\u5236<\/h1>\n<h4>1. \u6ce8\u518c\u8d26\u53f7<\/h4>\n<p>Vector map builder\u662fAutoware\u5b98\u65b9\u63d0\u4f9b\u7684\u4e00\u4e2a\u5728\u7ebflanelet2\u5730\u56fe\u7ed8\u5236\u5de5\u5177\uff0c\u5730\u5740\u4e3a\uff1a<a href=\"https:\/\/tools.tier4.jp\/feature\/vector_map_builder_ll2\/\" rel=\"nofollow\">https:\/\/tools.tier4.jp\/feature\/vector_map_builder_ll2\/<\/a>\uff0c\u7b2c\u4e00\u6b21\u4f7f\u7528\u9700\u8981\u5148\u6ce8\u518c\u8d26\u53f7\u3002<\/p>\n<h4>2. \u52a0\u8f7d\u70b9\u4e91PCD<\/h4>\n<p>\u70b9\u51fbFile &#8211; Import PCD\u5bfc\u5165\u70b9\u4e91\u3002\u70b9\u4e91\u6bd4\u8f83\u5927\u65f6\uff0c\u5efa\u8bae\u964d\u91c7\u6837\u8bbe\u7f6e\u4e3a1.0\uff0c\u5426\u5219\u4f1a\u957f\u65f6\u95f4\u65e0\u6cd5\u52a0\u8f7d\u6210\u529f\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/tier4-load-pcd.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10292\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/tier4-load-pcd-1024x525.png\" alt=\"\" width=\"625\" height=\"320\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/tier4-load-pcd-1024x525.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/tier4-load-pcd-300x154.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/tier4-load-pcd-768x394.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/tier4-load-pcd-1536x787.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/tier4-load-pcd-624x320.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/tier4-load-pcd.png 1848w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u9f20\u6807\u53f3\u952e\u62d6\u52a8\u70b9\u4e91\uff0c\u5de6\u952e\u65cb\u8f6c\u70b9\u4e91\uff0c\u6eda\u8f6e\u653e\u5927\u7f29\u5c0f\u70b9\u4e91\uff0c\u5de6\u4e0a\u89d2\u53ef\u4ee5\u5207\u63623D\u89c6\u89d2\u3002<\/p>\n<h4>3. \u521b\u5efaLanelet2\u77e2\u91cf\u5730\u56fe<\/h4>\n<p>\u521b\u5efaLanelet2\u65b0\u5730\u56fe\u9700\u8981\u8f93\u5165MGRS(\u6a2a\u8f74\u83ab\u5361\u6258\u6295\u5f71UTM\u5750\u6807\u7cfb\u7f51\u683c)\uff0c\u67e5\u8be2\u5730\u7406\u4f4d\u7f6e\u5bf9\u5e94\u7684MGRS\u7f51\u7ad9\uff1a<a href=\"https:\/\/mgrs-mapper.com\/app\" rel=\"nofollow\">https:\/\/mgrs-mapper.com\/app<\/a>\u3002<\/p>\n<p>\u5317\u4eac\u5317\u90e8\u57fa\u672c\u662f50T\uff0c\u5357\u90e8\u4e3a50S\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-50t-s.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10293\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-50t-s-1024x461.png\" alt=\"\" width=\"625\" height=\"281\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-50t-s-1024x461.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-50t-s-300x135.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-50t-s-768x346.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-50t-s-1536x692.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-50t-s-624x281.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-50t-s.png 1849w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u5177\u4f53\u4e3b\u8981\u5206\u5e03\u5728(50T,MK)\uff0c(50S,MK)\uff0c(50S,MJ)\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-mk-mj.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10294\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-mk-mj-1024x526.png\" alt=\"\" width=\"625\" height=\"321\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-mk-mj-1024x526.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-mk-mj-300x154.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-mk-mj-768x394.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-mk-mj-1536x788.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-mk-mj-624x320.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/mgrs-mk-mj.png 1847w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u5982\u679c\u662f\u5c40\u90e8\u5750\u6807\u7cfb\uff08\u6ca1\u6709\u7edd\u5bf9\u5750\u6807\uff09\uff0c\u53ef\u4ee5\u586b\uff0831N\uff0cAA\uff09\uff0c\u5373\u7ecf\u7eac\u5ea6\uff080\uff0c0\uff09\u3002<\/p>\n<p>\u6211\u8fd9\u91cc\u6839\u636e\u897f\u5317\u65fa\u4f4d\u7f6e\u586b\u5199\u7684(50T,MK)\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/create-lanelet2-create-mgrs.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-10295\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/create-lanelet2-create-mgrs.png\" alt=\"\" width=\"901\" height=\"518\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/create-lanelet2-create-mgrs.png 901w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/create-lanelet2-create-mgrs-300x172.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/create-lanelet2-create-mgrs-768x442.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/create-lanelet2-create-mgrs-624x359.png 624w\" sizes=\"(max-width: 901px) 100vw, 901px\" \/><\/a><\/p>\n<p>*\u6ce8\u610f\uff1a\u5982\u679c\u9009\u62e9\u5219MGRS\uff0c\u751f\u6210\u7684lat,lon\u662f\u57fa\u4e8eMgrsGrid\u897f\u5357\u89d2\u7684\u5750\u6807\u4f5c\u4e3a\u539f\u59cb\u5750\u6807\u8d77\u70b9\u8fdb\u884c\u504f\u79fb\u7684\uff0c\u6240\u4ee5\u9700\u8981PCD\u70b9\u4e91\u7684ENU\u4e1c\u5317\u5929\u5750\u6807\u7cfb\u7684x,y\u4e5f\u662f\u57fa\u4e8e\u8fd9\u4e2a\u539f\u59cb\u5750\u6807\u70b9\u624d\u53ef\u4ee5\uff0c\u5426\u5219\u751f\u6210\u7684osm\u91cc\u5750\u6807\u504f\u79fb\u4f1a\u51fa\u73b0\u9519\u8bef\u3002\u5982\u679c\u89c9\u5f97\u4fee\u6539PCD\u5750\u6807\u8d77\u70b9\u9ebb\u70e6\u7684\u8bdd\uff0c\u8fd9\u91cc\u53ef\u4ee5\u5148\u8bbe\u7f6e\u4e3a<span style=\"color: #ff0000;\">Local<\/span>\u672c\u5730\u5750\u6807\uff0c\u5373\u521d\u59cbgps\u4f4d\u7f6e\u4e3a0,0\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm-local.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-10398\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm-local.png\" alt=\"\" width=\"900\" height=\"295\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm-local.png 900w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm-local-300x98.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm-local-768x252.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm-local-624x205.png 624w\" sizes=\"(max-width: 900px) 100vw, 900px\" \/><\/a><\/p>\n<h4>4. \u7ed8\u5236\u8f66\u9053<\/h4>\n<h6>4.1 \u4f7f\u7528Linestring\u7ed8\u5236\u8f66\u9053<\/h6>\n<p>\u6253\u5f00Linestring\uff0c\u70b9\u9009\u8f66\u9053\u7ebf\u8fb9\u7f18\u7ed8\u5236\u8f66\u9053\u7ebf\uff0c\u7ed8\u5236\u5b8c\u4e00\u4fa7\u4e4b\u540e\u5173\u95edLinestring\uff0c\u5e76\u70b9\u51fb\u5730\u56fe\u7a7a\u767d\u5904\uff08\u53d6\u6d88\u539fLinestring\u7684\u9009\u88c5\u4e2d\u53f0\uff09\u5b8c\u6210\u7ed8\u5236\uff0c\u540c\u6837\u7684\u65b9\u6cd5\u7ed8\u5236\u53e6\u4e00\u4fa7\u8f66\u9053\u7ebf\u8fb9\u7f18\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/linestring.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10298\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/linestring-1024x335.png\" alt=\"\" width=\"625\" height=\"204\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/linestring-1024x335.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/linestring-300x98.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/linestring-768x251.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/linestring-624x204.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/linestring.png 1376w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u7ed8\u5236\u5b8c\u4e00\u6761\u8f66\u9053\u7684\u4e24\u6761\u8f66\u9053\u7ebf\u4e4b\u540e\uff0c\u6309\u4f4fshift\u952e\uff0c\u9f20\u6807\u9009\u62e9\u4e24\u6761\u8f66\u9053\u7ebf\uff0c\u70b9\u51fb\u53f3\u4e0a\u89d2Action\u4e2d\u7684Add Lanelet\uff0c\u751f\u6210Lanelet\u8f66\u9053\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10297\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-1024x380.png\" alt=\"\" width=\"625\" height=\"232\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-1024x380.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-300x111.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-768x285.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-624x231.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane.png 1376w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u7ed8\u5236\u5f2f\u9053\u7684\u65f6\u5019\u6bd4\u8f83\u7cd9\uff0c\u5b9e\u9645\u7ed8\u5236\u7684\u65f6\u5019\u70b9\u53ef\u4ee5\u7ed9\u5bc6\u96c6\u4e00\u70b9\uff0c\u800c\u4e14\u4e0d\u80fd\u592a\u7a84\uff0c\u5426\u5219\u540e\u9762Autoware\u81ea\u52a8\u9a7e\u9a76\u65f6\u65e0\u6cd5\u8f6c\u5f2f\uff08Drivable Area\uff09<\/p>\n<h6><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/turn.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10299\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/turn-1024x618.png\" alt=\"\" width=\"625\" height=\"377\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/turn-1024x618.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/turn-300x181.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/turn-768x463.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/turn-624x376.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/turn.png 1190w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/h6>\n<h6>4.2 \u590d\u5236Lane\u8f66\u9053<\/h6>\n<p>\u753b\u5b8c\u4e00\u6761\u8f66\u9053\u4e4b\u540e\uff0c\u53ef\u4ee5\u9009\u4e2d\u7136\u540e\u6253\u5f00\u5de5\u5177\u680f\u7684Copy Lanelet\u6309\u94ae\uff0c\u7136\u540e\u70b9\u51fb\u4e0e\u65c1\u8fb9\u8f66\u9053\u5171\u7528\u7684\u8fb9\uff0c\u5373\u53ef\u81ea\u52a8\u751f\u6210\uff08\u4e0e\u5f53\u524d\u8f66\u9053\u4e00\u6837\uff09\u65c1\u8fb9\u8f66\u9053\uff0c\u751f\u6210\u540e\u518d\u624b\u52a8\u5fae\u8c03\uff08\u9009\u4e2d\u7aef\u70b9\u62d6\u52a8\u53ef\u4ee5\u6539\u53d8\u5f62\u72b6\uff0c\u5750\u6807\u8f74\u662f\u6309\u7167\u5750\u6807\u65b9\u5411\u79fb\u52a8\uff0c\u9009\u4e2d\u65b9\u5757\u53ef\u4ee5\u4efb\u610f\u65b9\u5411\u79fb\u52a8\uff09<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/copy-lane.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10303\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/copy-lane-1024x361.png\" alt=\"\" width=\"625\" height=\"220\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/copy-lane-1024x361.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/copy-lane-300x106.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/copy-lane-768x271.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/copy-lane-624x220.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/copy-lane.png 1377w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h6>4.3 \u4f7f\u7528Lane\u7ed8\u5236\u8f66\u9053<\/h6>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-only.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10300\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-only-1024x526.png\" alt=\"\" width=\"625\" height=\"321\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-only-1024x526.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-only-300x154.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-only-768x394.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-only-1536x789.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-only-624x320.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-only.png 1848w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h6>4.4 \u8f66\u9053\u5c5e\u6027\u4e0e\u7f16\u8f91\u5de5\u5177<\/h6>\n<p>\u53f3\u4e0a\u89d2Action\u5de5\u5177\u53ef\u4ee5\u751f\u6210\u4e2d\u5fc3\u7ebf\uff0c\u6389\u8f6c\u65b9\u5411\uff0c\u805a\u7126\uff0c\u4f38\u76f4\u548c\u6539\u53d8\u5bbd\u5ea6\u3002<\/p>\n<ul>\n<li>Change Lanelet Width\uff1a\u4fee\u6539\u9053\u8def\u5bbd\u5ea6\uff0c\u8fd9\u4e2a\u6bd4\u6539linestring\u8981\u65b9\u4fbf\u5f88\u591a\u3002<\/li>\n<li>Join Lanelets\uff1a\u8fde\u63a5\u4e24\u6761Lane\u3002\u5982\u679cJone\u540e\u8def\u7ebf\u5173\u7cfb\u51fa\u73b0\u6df7\u4e71\uff0c\u901a\u5e38\u4e3a\u4e24\u6761Lane\u65b9\u5411\u4e0d\u4e00\u81f4\uff0c\u53ef\u901a\u8fc7Reverse Direction\u4fee\u6539\u4e00\u81f4\u540e\u518dJoin\u8fde\u63a5\u3002<\/li>\n<li>Reverse Direction\uff1a\u5bf9Lanelet\u884c\u9a76\u65b9\u5411\u8fdb\u884c\u8c03\u6574\uff0cLanelet\u6807\u7ea2\u4e3a\u62a5\u9519\uff0c\u7eff\u8272\u4e3a\u6b63\u786e\u3002\u6807\u7ea2\u7684\u539f\u56e0\u662f\u62d3\u6251\u5173\u7cfb\u4e0d\u6b63\u786e\uff08Next Lanelet is empty\uff09\uff0c\u6539\u53d8\u65b9\u5411\u4f7f\u62d3\u6251\u5173\u7cfb\u6b63\u786e\uff0c\u4f1a\u53d8\u6210\u7eff\u8272\u3002<\/li>\n<li>Change to dashed\uff1a\u4fee\u6539Linestring\u4e3a\u53ef\u53d8\u8f66\u9053\uff08\u865a\u7ebf\uff09\uff0c\u8fd9\u91cc\u4e0d\u540c\u8f66\u9053\u95f4\u5fc5\u987b\u5171\u7528\u4e00\u6761\u53ef\u53d8\u8f66\u9053\uff0c\u4e0d\u80fd\u753b\u4e24\u6761\u7ebf\uff08\u5728\u4f7f\u7528Lane\u753b\u8f66\u9053\u65f6\u9700\u8981\u6ce8\u610f\uff0c\u5efa\u8bae\u753b\u4e00\u6761lane\u540e\uff0c\u901a\u8fc7\u70b9\u51fb\u4e00\u6761\u8fb9copy lanelet\u6765\u7ed8\u5236\u76f8\u90bb\u8f66\u9053\uff09\u3002<\/li>\n<\/ul>\n<p>\u901a\u8fc7Reverse Direction+Join Lanelets\u8fde\u63a5\u4e24\u6761Lane\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/join-lanelets.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-10302\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/join-lanelets.png\" alt=\"\" width=\"956\" height=\"338\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/join-lanelets.png 956w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/join-lanelets-300x106.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/join-lanelets-768x272.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/join-lanelets-624x221.png 624w\" sizes=\"(max-width: 956px) 100vw, 956px\" \/><\/a><\/p>\n<p>\u9009\u4e2dLanelet\u5728\u53f3\u4fa7\u5c5e\u6027\u8868\u53ef\u4ee5\u7f16\u8f91\u5c5e\u6027\uff0c\u6bd4\u5982\u8f66\u9053\u6700\u5927\u9650\u901f\uff0c\u8f66\u9053\u8f6c\u5f2f\u65b9\u5411\uff08\u5de6\u8f6c\u3001\u76f4\u884c\u3001\u53f3\u8f6c\uff09\uff0c\u4e00\u5b9a\u8981\u7f16\u8f91\uff0c\u5426\u5219\u540e\u9762Universe\u65e0\u6cd5\u83b7\u5f97\u8f66\u9053\u4fe1\u606f\u3002\u5982\u4e0b\u56fe\u628aturn direction\u4fee\u6539\u4e3aright\uff0c\u9650\u901f10\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-params.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10301\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-params-1024x524.png\" alt=\"\" width=\"625\" height=\"320\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-params-1024x524.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-params-300x154.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-params-768x393.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-params-1536x787.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-params-624x320.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lane-params.png 1847w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>5. \u7ed8\u5236\u8def\u6cbf<\/h4>\n<p>\u4f7f\u7528linestring\u7ed8\u5236\u8def\u6cbf\u8fb9\u7ebf\uff0c\u7136\u540e\u5728\u53f3\u4fa7\u5c5e\u6027\u8868\u7684type\u4e2d\u9009\u62e9road_border\u5373\u53ef\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/road_border.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10305\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/road_border-1024x524.png\" alt=\"\" width=\"625\" height=\"320\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/road_border-1024x524.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/road_border-300x153.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/road_border-768x393.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/road_border-1536x786.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/road_border-624x319.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/road_border.png 1851w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>6. \u7ed8\u5236\u505c\u6b62\u7ebf\u548c\u4ea4\u901a\u706f<\/h4>\n<p>\u9009\u4e2d\u8981\u7ed8\u5236\u7ea2\u7eff\u706f\u7684Lane\u8f66\u9053\uff0c\u518d\u6253\u5f00\u4e0a\u65b9TrafficLight\u4ea4\u901a\u706f\u5de5\u5177\uff0c\u7136\u540e\u5728\u7b49\u7ea2\u7eff\u706f\u7684\u4f4d\u7f6e\u70b9\u51fb\uff0c\u5373\u53ef\u5728\u70b9\u51fb\u4f4d\u7f6e\u751f\u6210\u505c\u8f66\u7ebf\uff0c\u5e76\u5728\u5bf9\u9762\u751f\u6210\u7ea2\u7eff\u706f\uff08\u6ce8\u610f\u8f66\u9053\u65b9\u5411\uff09\uff0c\u751f\u6210\u4e4b\u540e\u53ef\u4ee5\u8c03\u6574\u505c\u8f66\u7ebf\u4ee5\u53ca\u7ea2\u7eff\u706f\u4f4d\u7f6e\uff08\u6309\u4f4fshift\u53ef\u4ee5\u5212\u5b9a\u533a\u57df\u591a\u9009\uff09\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/traffic-light.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10306\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/traffic-light-1024x524.png\" alt=\"\" width=\"625\" height=\"320\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/traffic-light-1024x524.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/traffic-light-300x153.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/traffic-light-768x393.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/traffic-light-1536x786.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/traffic-light-624x319.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/traffic-light.png 1847w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u5982\u679c\u8981\u5355\u72ec\u7ed8\u5236\u505c\u6b62\u7ebf\uff0c\u53ef\u4ee5\u9009\u4e2d\u8981\u7ed8\u5236\u505c\u6b62\u7ebf\u7684\u8f66\u9053\uff0c\u6253\u5f00\u505c\u6b62\u7ebf\u5de5\u5177\uff0c\u70b9\u51fb\u505c\u6b62\u7ebf\u4f4d\u7f6e\u5373\u53ef\u751f\u6210\u3002<\/p>\n<h4>7. \u7ed8\u5236\u4eba\u6027\u6a2a\u9053<\/h4>\n<p>\u9009\u4e2dLane\u8f66\u9053\uff0c\u7136\u540e\u70b9\u51fbAbstraction\u83dc\u5355\u4e0b\u7684Crosswalk\uff0c\u70b9\u51fb\u4eba\u884c\u9053\u4e24\u7aef\u81ea\u52a8\u751f\u6210\u4eba\u884c\u9053\uff0c\u9009\u4e2d\u4eba\u884c\u9053\uff0c\u5728\u53f3\u4fa7\u7684participants\u5c5e\u6027\u4e0b\u586b\u5199pedestrian\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/crosswalk.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10307\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/crosswalk-1024x524.png\" alt=\"\" width=\"625\" height=\"320\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/crosswalk-1024x524.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/crosswalk-300x153.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/crosswalk-768x393.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/crosswalk-1536x785.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/crosswalk-624x319.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/crosswalk.png 1848w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/cross-walks.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10308\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/cross-walks-1024x496.png\" alt=\"\" width=\"625\" height=\"303\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/cross-walks-1024x496.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/cross-walks-300x145.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/cross-walks-768x372.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/cross-walks-624x302.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/cross-walks.png 1484w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>8. \u7ed8\u5236\u505c\u8f66\u573a\u4ee5\u53ca\u505c\u8f66\u4f4d<\/h4>\n<p>\u9009\u4e2d\u8f66\u9053\uff0c\u6253\u5f00\u4e0a\u65b9\u7684NoStoppingArea\uff0c\u7ed8\u5236Area\uff0c\u8c03\u6574\u5927\u5c0f\uff0c\u7136\u540e\u5728\u5c5e\u6027\u8868\u4e2d\u4fee\u6539\u5c5e\u6027\u4e3aparking_lot<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkinglot.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10309\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkinglot-1024x526.png\" alt=\"\" width=\"625\" height=\"321\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkinglot-1024x526.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkinglot-300x154.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkinglot-768x394.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkinglot-1536x788.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkinglot-624x320.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkinglot.png 1849w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u7ed8\u5236\u4e00\u6761Linestring\uff0c\u7136\u540e\u9009\u4e2d\u5728\u5c5e\u6027\u8868\u4e2d\u4fee\u6539type\u4e3aparking_space\uff0c\u6dfb\u52a0\u5c5e\u6027width\uff0c\u503c\u4e3a3\uff0c\u5373\u7ed8\u5236\u4e86\u4e00\u4e2a\u505c\u8f66\u4f4d\uff0c\u7136\u540e\u53ef\u4ee5\u76f4\u63a5\u590d\u5236\u51e0\u6761<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkingspace.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10311\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkingspace-1024x526.png\" alt=\"\" width=\"625\" height=\"321\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkingspace-1024x526.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkingspace-300x154.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkingspace-768x394.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkingspace-1536x788.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkingspace-624x320.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/parkingspace.png 1847w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>9. \u6e05\u7406\u6240\u6709\u7684problem<\/h4>\n<p>\u6709\u95ee\u9898\u7684\u5730\u56fe\u53ef\u80fd\u5bfc\u81f4load\u5931\u8d25\uff0c\u6240\u4ee5\u6211\u4eec\u9700\u8981\u628a\u53f3\u4fa7\u7ea2\u8272\u7684Problem\u90fd\u6e05\u7406\u6389\uff0c\u786e\u4fdd\u6ca1\u6709\u9519\u8bef\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/clear-problem.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10402\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/clear-problem-1024x510.png\" alt=\"\" width=\"625\" height=\"311\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/clear-problem-1024x510.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/clear-problem-300x149.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/clear-problem-768x382.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/clear-problem-1536x764.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/clear-problem-624x310.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/clear-problem.png 1652w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h4>10. \u4fdd\u5b58\u5730\u56fe<\/h4>\n<p>\u70b9\u51fbFile &#8211; Export Lanelet2Maps\u5bfc\u51faosm\u5730\u56fe\u6587\u4ef6\u3002<\/p>\n<h4><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/export-osm.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10310\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/export-osm.png\" alt=\"\" width=\"625\" height=\"441\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/export-osm.png 649w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/export-osm-300x212.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/export-osm-624x440.png 624w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/h4>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2_map.zip\" target=\"_blank\" rel=\"noopener\">lanelet2_map.zip<\/a><\/p>\n<h1>\u56db\u3001\u5730\u56fe\u9a8c\u8bc1<\/h1>\n<h4>1. \u5730\u56fe\u914d\u7f6e<\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\">cd ~\/autoware_map\/park-map\r\n\r\nvim map_projector_info.yaml\r\n    projector_type: local  # <span style=\"color: #ff0000;\">MGRS<\/span>\r\n    # vertical_datum: <span style=\"color: #ff0000;\">WGS84<\/span>\r\n    # mgrs_grid: <span style=\"color: #ff0000;\">50TMK<\/span>\r\n\r\nvim map_config.yaml\r\n    \/**:\r\n      ros__parameters:\r\n        map_origin:\r\n          latitude: 0  #<span style=\"color: #ff0000;\">40.0485731350446<\/span>\r\n          longitude: 0  #<span style=\"color: #ff0000;\">116.26018734007<\/span>\r\n          elevation: 0  #<span style=\"color: #ff0000;\">37.6409964934858<\/span>\r\n          roll: 0.0\r\n          pitch: 0.0\r\n          yaw: 0.0\r\n\r\nll \r\n    lanelet2_map.osm\r\n    pointcloud_map.pcd\r\n    map_projector_info.yaml\r\n    map_config.yaml<\/code><\/pre>\n<h4>2. \u4eff\u771f<\/h4>\n<p>\u53c2\u8003<a href=\"https:\/\/yanjingang.com\/blog\/?p=8732#2Autoware1\" target=\"_blank\" rel=\"noopener\">Autoware\u2014Universe\u521d\u63a2_2.\u542f\u52a8Autoware\u4eff\u771f<\/a><\/p>\n<h6>2.1 ROS1<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\">roslaunch map_file lanelet2_map_loader.launch file_name:=\/home\/autoware\/shared_dir\/map\/park\/lanelet2-map\/lanelet2_map.osm<\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-graph.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10404\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-graph-1024x75.png\" alt=\"\" width=\"625\" height=\"46\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-graph-1024x75.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-graph-300x22.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-graph-768x56.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-graph-624x45.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/lanelet2-graph.png 1058w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm-.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10408\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm--1024x606.png\" alt=\"\" width=\"625\" height=\"370\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm--1024x606.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm--300x178.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm--768x454.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm--624x369.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/osm-.png 1347w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>*\u6ce8\uff1aROS1\u4e0b\u53ea\u80fd\u67e5\u770b\uff0c\u6682\u65f6\u8fd8\u4e0d\u652f\u6301lanelet2\u683c\u5f0f\u5730\u56fe\u7684\u8def\u5f84\u89c4\u5212\u548c\u5bfc\u822a\u3002<\/p>\n<h6>2.2 ROS2<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u542f\u52a8Autoware\u4eff\u771f\r\nsource ~\/autoware\/install\/setup.bash\r\nros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME\/autoware_map\/<span style=\"color: #ff0000;\">park-map<\/span> vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit\r\n# \u901a\u8fc72D Pose Estimate\u7ed9\u5b9a\u521d\u59cb\u4f4d\u59ff\r\n# \u901a\u8fc72D Goal Pose\u8bbe\u7f6e\u76ee\u6807\u70b9\uff0c\u751f\u6210\u5bfc\u822a\u8def\u5f84\r\n# \u901a\u8fc7\u9009\u62e9\u5de6\u4fa7\u7684Auto\u6309\u94ae\u5f00\u59cb\u81ea\u52a8\u884c\u9a76<\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10428\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-1024x578.png\" alt=\"\" width=\"625\" height=\"353\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-1024x578.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-300x169.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-768x433.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-1536x867.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-624x352.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2.png 1866w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u5b9e\u9645\u6d4b\u8bd5\u53d1\u73b0\uff0c\u8f66\u9053\u5bbd\u5ea6\u9700\u8981\u5bbd\u4e8e\u8f66\u8f86\uff0c\u5426\u5219\u4f1a\u5bfc\u81f4\u8def\u5f84\u89c4\u5212\u5931\u8d25\u3002\u6211\u4eec\u8fd9\u91cc\u8c03\u6574\u4e0b\u8f66\u8f86\u6a21\u578b\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u590d\u5236\u4e00\u4efd\u793a\u4f8b\u8f66\u8f86\u6a21\u578b\r\ncd ~\/autoware\/src\/vehicle\/\r\ncp sample_vehicle_launch wheel_vehicle_launch -r\r\n\r\n# \u91cd\u547d\u540d\u8f66\u8f86\u6a21\u578b\u4e3awheel\r\ncd ~\/autoware\/src\/vehicle\/wheel_vehicle_launch\r\nrm -rf .git\/ .github\/\r\nmv sample_vehicle_launch\/ wheel_vehicle_launch\r\nmv sample_vehicle_description\/ wheel_vehicle_description\r\nsed -i \"s\/sample\/wheel\/g\" `grep sample -rl .`\r\n\r\n# \u4fee\u6539\u6a21\u578b\u53c2\u6570\uff08\u8fd9\u91cc\u6539\u4e3awheel\u5e95\u76d8\u7684urdf\u6a21\u578b\u548c\u8f66\u8eab\u53c2\u6570\uff09\r\ncd ~\/autoware\/src\/vehicle\/wheel_vehicle_launch\/wheel_vehicle_description\r\ncp ~\/autoware.ai\/shared_dir\/urdf\/senior_akm_robot.urdf .\/urdf\/vehicle.xacro\r\nvim config\/vehicle_info.param.yaml\r\n  \/**:\r\n  ros__parameters:\r\n    wheel_radius: 0.125 # \u8f6e\u5b50\u7684\u534a\u5f84\uff0c\u4e3b\u8981\u7528\u4e8e\u822a\u4f4d\u63a8\u7b97 The radius of the wheel, primarily used for dead reckoning.\r\n    wheel_width: 0.040 # \u8f66\u8f6e\u8f6e\u80ce\u7684\u6a2a\u5411\u5bbd\u5ea6\uff0c\u4e3b\u8981\u7528\u4e8e\u822a\u4f4d\u63a8\u7b97 The lateral width of a wheel tire, primarily used for dead reckoning.\r\n    wheel_base: 0.322 # \u8f74\u8ddd\uff0c\u524d\u8f6e\u4e2d\u5fc3\u548c\u540e\u8f6e\u4e2d\u5fc3\u4e4b\u95f4\u8ddd\u79bb between front wheel center and rear wheel center\r\n    wheel_tread: 0.322 # \u8f6e\u8ddd\uff0c\u5de6\u8f6e\u8ddd\u8f6e\u4e2d\u5fc3\u5230\u53f3\u8f6e\u4e2d\u5fc3\u8ddd\u79bb between left wheel center and right wheel center\r\n    front_overhang: 0.064 # \u524d\u8f6e\u4e2d\u5fc3\u548c\u8f66\u8f86\u524d\u90e8\u4e4b\u95f4\u8ddd\u79bb between front wheel center and vehicle front\r\n    rear_overhang: 0.064 # \u540e\u8f6e\u4e2d\u5fc3\u548c\u8f66\u8f86\u540e\u90e8\u4e4b\u95f4\u8ddd\u79bb between rear wheel center and vehicle rear\r\n    left_overhang: 0.014 # \u5de6\u8f6e\u4e2d\u5fc3\u548c\u8f66\u8f86\u5de6\u4fa7\u4e4b\u95f4\u8ddd\u79bb between left wheel center and vehicle left\r\n    right_overhang: 0.014 # \u53f3\u8f6e\u4e2d\u5fc3\u548c\u8f66\u8f86\u53f3\u4fa7\u4e4b\u95f4\u8ddd\u79bb between right wheel center and vehicle right\r\n    vehicle_height: 0.35\r\n    max_steer_angle: 20.0 # [rad]\r\n\r\n# \u7f16\u8bd1\u81ea\u5b9a\u4e49\u6a21\u578b\r\ncd ~\/autoware\r\ncolcon build --<span class=\"hljs-keyword\">symlink<\/span>-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-<span class=\"hljs-keyword\">select<\/span> wheel_vehicle_launch wheel_vehicle_description\r\n\r\n# \u8fd0\u884c\u4eff\u771f\uff08\u4f7f\u7528\u81ea\u5b9a\u4e49\u7684wheel\u8f66\u8f86\u6a21\u578b\uff09\r\nsource ~\/autoware\/install\/setup.bash\r\nros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME\/autoware_map\/<span style=\"color: #ff0000;\">park-map<\/span> vehicle_model:=<span style=\"color: #ff0000;\">wheel_vehicle<\/span> sensor_model:=sample_sensor_kit<\/code><\/pre>\n<p>\u81ea\u5b9a\u4e49\u7684wheel\u8f66\u8f86\u6a21\u578b\uff1a<a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/wheel_vehicle_launch.zip\" target=\"_blank\" rel=\"noopener\">wheel_vehicle_launch.zip<\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-wheel.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-10436\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-wheel-1024x578.png\" alt=\"\" width=\"625\" height=\"353\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-wheel-1024x578.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-wheel-300x169.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-wheel-768x433.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-wheel-1536x867.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-wheel-624x352.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/01\/autoware2-lanelet2-wheel.png 1866w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>yan 25.1.1<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/tools.tier4.jp\/\" target=\"_blank\" rel=\"noopener\">TIER IV \u7684\u77e2\u91cf\u5730\u56fe\u751f\u6210\u5668\u5de5\u5177<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/zardforever123\/article\/details\/132528899\" target=\"_blank\" rel=\"noopener\">Autoware.universe\u90e8\u7f7202\uff1a\u9ad8\u7cbeLanelet2\u5730\u56fe\u7684\u7ed8\u5236<\/a><\/p>\n<p><a href=\"https:\/\/www.bilibili.com\/video\/BV1Ku411f7xi\" target=\"_blank\" rel=\"noopener\">\u3010\u6559\u7a0b\u3011\u3010Autoware\u3011\u3010Lanelet2\u3011\u5229\u7528Vector Map Buider\u7ed8\u5236Lanelet2\u9ad8\u7cbe\u5ea6\u5730\u56fe<\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/?p=8732#2Autoware1\" target=\"_blank\" rel=\"noopener\">Autoware\u2014Universe\u521d\u63a2_2.\u542f\u52a8Autoware\u4eff\u771f<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e4b\u524d\u6211\u4eec\u5c1d\u8bd5\u4e86\u4f7f\u7528Unity\u7684MapToolBox\u63d2\u4ef6\u6765\u7ed8\u5236VectorMap\u5730\u56fe\uff0c\u5e76\u5728Autoware.ai [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1423],"tags":[1369,1424,1445,1446],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10285"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=10285"}],"version-history":[{"count":3,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10285\/revisions"}],"predecessor-version":[{"id":10437,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/10285\/revisions\/10437"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=10285"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=10285"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=10285"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}