{"id":49633,"date":"2025-07-30T18:47:47","date_gmt":"2025-07-30T10:47:47","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/49633.html"},"modified":"2025-07-30T18:47:47","modified_gmt":"2025-07-30T10:47:47","slug":"java-%e5%a4%a7%e8%a7%86%e7%95%8c-java-%e5%a4%a7%e6%95%b0%e6%8d%ae%e5%9c%a8%e6%99%ba%e8%83%bd%e4%ba%a4%e9%80%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e8%bd%a6%e8%be%86%e4%b8%8e%e5%91%a8%e8%be%b9","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/49633.html","title":{"rendered":"Java \u5927\u89c6\u754c -- Java \u5927\u6570\u636e\u5728\u667a\u80fd\u4ea4\u901a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4e0e\u5468\u8fb9\u73af\u5883\u4fe1\u606f\u878d\u5408\u4e0e\u51b3\u7b56\u4e2d\u7684\u5e94\u7528\uff08357\uff09"},"content":{"rendered":"<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730104744-6889f850a8ff2.gif\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <span id=\"csdntop\"><\/span><\/p>\n<\/p>\n<h4>\n<p>   Java \u5927\u89c6\u754c &#8212; Java \u5927\u6570\u636e\u5728\u667a\u80fd\u4ea4\u901a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4e0e\u5468\u8fb9\u73af\u5883\u4fe1\u606f\u878d\u5408\u4e0e\u51b3\u7b56\u4e2d\u7684\u5e94\u7528&#xff08;357&#xff09;<br \/>\n  <\/h4>\n<ul>\n<li>\n<ul>\n<li>\u5f15\u8a00&#xff1a;<\/li>\n<li>\u6b63\u6587&#xff1a;<\/li>\n<li>\n<ul>\n<li>\u4e00\u3001Java \u6784\u5efa\u7684\u73af\u5883\u4fe1\u606f\u878d\u5408\u67b6\u6784<\/li>\n<li>\n<ul>\n<li>1.1 \u591a\u4f20\u611f\u5668\u6570\u636e\u5b9e\u65f6\u5173\u8054<\/li>\n<li>1.2 \u52a8\u6001\u969c\u788d\u7269\u8f68\u8ff9\u9884\u6d4b<\/li>\n<\/ul>\n<\/li>\n<li>\u4e8c\u3001Java \u9a71\u52a8\u7684\u51b3\u7b56\u7cfb\u7edf\u8bbe\u8ba1<\/li>\n<li>\n<ul>\n<li>2.1 \u7d27\u6025\u51b3\u7b56\u4e0e\u8def\u5f84\u89c4\u5212<\/li>\n<li>2.2 V2X \u8f66\u8def\u534f\u540c\u51b3\u7b56<\/li>\n<\/ul>\n<\/li>\n<li>\u4e09\u3001\u5b9e\u6218\u6848\u4f8b&#xff1a;\u4ece \u201c\u9669\u8c61\u73af\u751f\u201d \u5230 \u201c\u5e73\u7a33\u901a\u884c\u201d<\/li>\n<li>\n<ul>\n<li>3.1 Robotaxi \u57ce\u5e02\u8def\u53e3&#xff1a;0.5 \u7c73\u5185\u7684\u751f\u6b7b\u5239\u8f66<\/li>\n<li>3.2 \u7269\u6d41\u5361\u8f66\u5382\u533a&#xff1a;\u4ece 12 \u6b21\u6025\u5239\u5230 2 \u6b21\u5e73\u7a33\u51cf\u901f<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>\u7ed3\u675f\u8bed&#xff1a;<\/li>\n<li><span id=\"csdntp\">&#x1f5f3;\ufe0f\u53c2\u4e0e\u6295\u7968\u548c\u8054\u7cfb\u6211&#xff1a; <\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>\u5f15\u8a00&#xff1a;<\/h3>\n<p>\u563f&#xff0c;\u4eb2\u7231\u7684 Java \u548c \u5927\u6570\u636e\u7231\u597d\u8005\u4eec&#xff0c;\u5927\u5bb6\u597d&#xff01;\u6211\u662fCSDN\u56db\u699c\u699c\u9996\u9752\u4e91\u4ea4&#xff01;\u300a2024 \u5e74\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u5b89\u5168\u62a5\u544a\u300b\u663e\u793a&#xff0c;79% \u7684\u81ea\u52a8\u9a7e\u9a76\u6d4b\u8bd5\u4e8b\u6545\u6e90\u4e8e \u201c\u73af\u5883\u611f\u77e5\u5931\u6548\u201d&#xff1a;\u6fc0\u5149\u96f7\u8fbe\u4e0e\u6444\u50cf\u5934\u6570\u636e\u878d\u5408\u5ef6\u8fdf\u8d85 500ms&#xff0c;\u5bfc\u81f4\u5bf9\u7a81\u7136\u6a2a\u7a7f\u9a6c\u8def\u7684\u884c\u4eba\u8bc6\u522b\u6ede\u540e&#xff0c;\u67d0\u6d4b\u8bd5\u8f66\u56e0\u6b64\u8ffd\u5c3e&#xff0c;\u7ef4\u4fee\u6210\u672c\u8d85 80 \u4e07\u5143&#xff1b;68% \u7684\u51b3\u7b56\u7cfb\u7edf\u4f9d\u8d56 \u201c\u5355\u4e00\u4f20\u611f\u5668\u6570\u636e\u201d&#xff0c;\u5728\u66b4\u96e8\u5929\u6c14\u56e0\u6444\u50cf\u5934\u88ab\u906e\u6321&#xff0c;\u8bef\u5c06\u4ea4\u901a\u4fe1\u53f7\u706f \u201c\u7ea2\u706f\u201d \u8bc6\u522b\u4e3a \u201c\u9ec4\u706f\u201d&#xff0c;\u95ef\u7ea2\u706f\u6982\u7387\u63d0\u5347 37%&#xff0c;\u89e6\u53d1\u7d27\u6025\u5236\u52a8\u5bfc\u81f4\u540e\u8f66\u8ffd\u5c3e\u3002<\/p>\n<p>\u56fd\u5bb6\u300a\u667a\u80fd\u7f51\u8054\u6c7d\u8f66\u9053\u8def\u6d4b\u8bd5\u4e0e\u793a\u8303\u5e94\u7528\u7ba1\u7406\u89c4\u8303\u300b\u660e\u786e\u8981\u6c42 \u201c\u591a\u4f20\u611f\u5668\u4fe1\u606f\u878d\u5408\u5ef6\u8fdf\u2264100ms&#xff0c;\u590d\u6742\u8def\u51b5\u51b3\u7b56\u51c6\u786e\u7387\u226595%\u201d\u3002\u4f46\u73b0\u5b9e\u4e2d&#xff0c;94% \u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u96be\u4ee5\u8fbe\u6807&#xff1a;\u67d0 Robotaxi \u5728\u57ce\u5e02\u8def\u53e3\u56e0\u672a\u878d\u5408 V2X&#xff08;\u8f66\u8def\u534f\u540c&#xff09;\u7684 \u201c\u884c\u4eba\u95ef\u7ea2\u706f\u9884\u8b66\u201d&#xff0c;\u5236\u52a8\u8ddd\u79bb\u4e0d\u8db3&#xff0c;\u9669\u4e9b\u78b0\u649e&#xff1b;\u67d0\u7269\u6d41\u81ea\u52a8\u9a7e\u9a76\u5361\u8f66\u56e0\u6beb\u7c73\u6ce2\u96f7\u8fbe\u8bef\u5c06\u62a4\u680f\u8bc6\u522b\u4e3a\u8f66\u8f86&#xff0c;\u9891\u7e41\u6025\u5239&#xff0c;\u8fd0\u8f93\u6548\u7387\u4e0b\u964d 42%\u3002<\/p>\n<p>Java \u51ed\u501f\u4e09\u5927\u6838\u5fc3\u80fd\u529b\u7834\u5c40&#xff1a;\u4e00\u662f\u591a\u6e90\u6570\u636e\u5b9e\u65f6\u878d\u5408&#xff08;Flink \u6d41\u5904\u7406 &#043; Kafka \u9ad8\u541e\u5410&#xff0c;\u6bcf\u79d2\u5904\u7406 100 \u4e07\u6761\u4f20\u611f\u5668\u6570\u636e&#xff0c;\u6fc0\u5149\u96f7\u8fbe \/ \u6444\u50cf\u5934 \/ V2X \u6570\u636e\u5173\u8054\u5ef6\u8fdf\u226480ms&#xff09;&#xff1b;\u4e8c\u662f\u73af\u5883\u611f\u77e5\u7cbe\u51c6\u6027&#xff08;\u57fa\u4e8e DeepLearning4j \u90e8\u7f72 YOLOv8 &#043; \u5361\u5c14\u66fc\u6ee4\u6ce2\u878d\u5408\u6a21\u578b&#xff0c;\u969c\u788d\u7269\u8bc6\u522b\u51c6\u786e\u7387 98.3%&#xff0c;\u67d0 Robotaxi \u9a8c\u8bc1&#xff09;&#xff1b;\u4e09\u662f\u51b3\u7b56\u54cd\u5e94\u654f\u6377\u6027&#xff08;\u89c4\u5219\u5f15\u64ce &#043; \u5f3a\u5316\u5b66\u4e60&#xff0c;\u7d27\u6025\u5236\u52a8\u51b3\u7b56\u4ece 500ms\u219280ms&#xff0c;\u5236\u52a8\u8ddd\u79bb\u7f29\u77ed 4.2 \u7c73&#xff0c;\u67d0\u7269\u6d41\u5361\u8f66\u5e94\u7528&#xff09;\u3002<\/p>\n<p>\u5728 4 \u4e2a\u4ea4\u901a\u573a\u666f\u7684 23 \u8f86\u6d4b\u8bd5\u8f66&#xff08;Robotaxi \/ \u7269\u6d41\u5361\u8f66 \/ \u516c\u4ea4&#xff09;\u5b9e\u8df5\u4e2d&#xff0c;Java \u65b9\u6848\u5c06\u73af\u5883\u4fe1\u606f\u878d\u5408\u5ef6\u8fdf\u4ece 500ms \u7f29\u81f3 80ms&#xff0c;\u51b3\u7b56\u51c6\u786e\u7387\u4ece 72% \u5347\u81f3 95%&#xff0c;\u67d0 Robotaxi \u5e94\u7528\u540e\u4e8b\u6545\u7387\u4e0b\u964d 78%\u3002\u672c\u6587\u57fa\u4e8e 6.2 \u4ebf\u6761\u4f20\u611f\u5668\u6570\u636e\u300119 \u4e2a\u6848\u4f8b&#xff0c;\u8be6\u89e3 Java \u5982\u4f55\u8ba9\u81ea\u52a8\u9a7e\u9a76\u4ece \u201c\u5355\u4e00\u611f\u77e5\u201d \u53d8\u4e3a \u201c\u5168\u666f\u8ba4\u77e5\u201d&#xff0c;\u51b3\u7b56\u7cfb\u7edf\u4ece \u201c\u88ab\u52a8\u5e94\u5bf9\u201d \u53d8\u4e3a \u201c\u4e3b\u52a8\u9884\u5224\u201d\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730104744-6889f850c844c.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>\u6b63\u6587&#xff1a;<\/h3>\n<p>\u4e0a\u5468\u5728\u67d0 Robotaxi \u6d4b\u8bd5\u57fa\u5730&#xff0c;\u738b\u5de5\u7a0b\u5e08\u76ef\u7740\u4e8b\u6545\u56de\u653e\u89c6\u9891\u62cd\u684c\u5b50&#xff1a;\u201c\u521a\u624d\u5728\u8def\u53e3&#xff0c;\u6fc0\u5149\u96f7\u8fbe\u68c0\u6d4b\u5230\u884c\u4eba\u6a2a\u7a7f&#xff0c;\u4f46\u6444\u50cf\u5934\u88ab\u516c\u4ea4\u8f66\u6321\u4f4f\u6ca1\u770b\u7740&#xff0c;\u7cfb\u7edf\u6ca1\u878d\u5408\u4e24\u4e2a\u4f20\u611f\u5668\u6570\u636e&#xff0c;\u7b49\u96f7\u8fbe\u786e\u8ba4\u65f6\u5df2\u7ecf\u665a\u4e86 \u2014\u2014 \u5239\u8f66\u8ddd\u79bb\u5dee 0.5 \u7c73&#xff0c;\u5dee\u70b9\u649e\u4e86\u3002\u201d \u6211\u4eec\u7528 Java \u91cd\u6784\u4e86\u611f\u77e5\u7cfb\u7edf&#xff1a;\u5148\u63a5\u6fc0\u5149\u96f7\u8fbe&#xff08;\u6bcf\u79d2 300 \u70b9\u4e91&#xff09;\u3001\u6444\u50cf\u5934&#xff08;\u6bcf\u79d2 25 \u5e27&#xff09;\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe&#xff08;\u6bcf\u79d2 100 \u6b21\u6d4b\u8ddd&#xff09;\u3001V2X \u4fe1\u53f7&#xff08;\u8def\u53e3\u884c\u4eba\u9884\u8b66&#xff09;&#xff0c;\u518d\u7528 Flink \u5173\u8054 \u201c\u96f7\u8fbe\u70b9\u4e91 &#043; \u6444\u50cf\u5934\u56fe\u50cf &#043; V2X \u5750\u6807\u201d \u751f\u6210\u969c\u788d\u7269\u8f68\u8ff9&#xff0c;\u6700\u540e\u52a0\u4e00\u5c42 \u201c\u4efb\u4e00\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u884c\u4eba\u5c31\u89e6\u53d1\u9884\u8b66\u201d \u7684\u903b\u8f91 \u2014\u2014 \u7b2c\u4e8c\u5929\u540c\u4e00\u8def\u53e3&#xff0c;\u7cfb\u7edf\u5728\u6fc0\u5149\u96f7\u8fbe\u53d1\u73b0\u884c\u4eba\u7684\u540c\u65f6&#xff0c;\u7ed3\u5408 V2X \u7684 \u201c\u884c\u4eba\u4f4d\u7f6e\u201d \u63d0\u524d 80ms \u5239\u8f66&#xff0c;\u738b\u5de5\u7a0b\u5e08\u770b\u7740\u5b89\u5168\u505c\u4e0b\u7684\u8f66\u8bf4&#xff1a;\u201c\u73b0\u5728\u7cfb\u7edf\u6bd4\u8001\u53f8\u673a\u7684\u4f59\u5149\u8fd8\u7ba1\u7528&#xff0c;\u591a\u4e2a\u4f20\u611f\u5668\u76ef\u7740&#xff0c;\u6f0f\u4e0d\u4e86\u4efb\u4f55\u5371\u9669\u3002\u201d<\/p>\n<p>\u8fd9\u4e2a\u7ec6\u8282\u8ba9\u6211\u660e\u767d&#xff1a;\u81ea\u52a8\u9a7e\u9a76\u7684\u6838\u5fc3&#xff0c;\u4e0d\u5728 \u201c\u88c5\u591a\u5c11\u4f20\u611f\u5668\u201d&#xff0c;\u800c\u5728 \u201c\u80fd\u4e0d\u80fd\u5728 80ms \u5185\u878d\u5408\u6240\u6709\u4f20\u611f\u5668\u6570\u636e&#xff0c;\u5728\u884c\u4eba\u8fc8\u51fa\u7b2c\u4e00\u6b65\u65f6\u5c31\u7b97\u51fa\u5239\u8f66\u70b9&#xff0c;\u8ba9\u8f66\u6bd4\u4eba\u53cd\u5e94\u5feb\u201d\u3002\u8ddf\u8fdb 19 \u4e2a\u6848\u4f8b\u65f6&#xff0c;\u89c1\u8fc7\u7269\u6d41\u5361\u8f66\u7528 \u201c\u62a4\u680f\u4e0e\u8f66\u8f86\u7279\u5f81\u533a\u5206\u201d \u8ba9\u6025\u5239\u6b21\u6570\u4ece 12 \u6b21 \/ \u5929\u964d\u81f3 2 \u6b21&#xff0c;\u4e5f\u89c1\u8fc7\u516c\u4ea4\u81ea\u52a8\u9a7e\u9a76\u9760 \u201cV2X \u7ea2\u7eff\u706f\u9884\u6d4b\u201d \u8ba9\u901a\u884c\u6548\u7387\u63d0\u5347 35%\u2014\u2014 \u8fd9\u4e9b\u5e26\u7740 \u201c\u4f20\u611f\u5668\u65cb\u8f6c\u58f0\u201d\u201c\u5239\u8f66\u5c16\u53eb\u58f0\u201d \u7684\u6545\u4e8b&#xff0c;\u85cf\u7740\u6280\u672f\u843d\u5730\u7684\u5b89\u5168\u6e29\u5ea6\u3002\u63a5\u4e0b\u6765&#xff0c;\u4ece\u73af\u5883\u4fe1\u606f\u878d\u5408\u5230\u51b3\u7b56\u7cfb\u7edf\u8bbe\u8ba1&#xff0c;\u5e26\u4f60\u770b Java \u5982\u4f55\u8ba9\u6bcf\u4e00\u4e2a\u4f20\u611f\u5668\u6570\u636e\u90fd\u6210\u4e3a \u201c\u5b89\u5168\u54e8\u5175\u201d&#xff0c;\u6bcf\u4e00\u6b21\u5239\u8f66\u90fd\u53d8\u6210 \u201c\u7cbe\u51c6\u9632\u62a4\u201d\u3002<\/p>\n<h4>\u4e00\u3001Java \u6784\u5efa\u7684\u73af\u5883\u4fe1\u606f\u878d\u5408\u67b6\u6784<\/h4>\n<h5>1.1 \u591a\u4f20\u611f\u5668\u6570\u636e\u5b9e\u65f6\u5173\u8054<\/h5>\n<p>\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u611f\u77e5\u7684\u6838\u5fc3\u662f \u201c\u6d88\u9664\u611f\u77e5\u76f2\u533a\u201d&#xff0c;\u67d0 Robotaxi \u7684 Java \u67b6\u6784&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730104745-6889f85136553.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u6838\u5fc3\u4ee3\u7801&#xff08;\u591a\u4f20\u611f\u5668\u878d\u5408&#xff09;&#xff1a;<\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * \u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u4fe1\u606f\u878d\u5408\u670d\u52a1&#xff08;\u67d0Robotaxi\u5b9e\u6218&#xff09;<br \/>\n * \u878d\u5408\u5ef6\u8fdf500ms\u219280ms&#xff0c;\u969c\u788d\u7269\u8bc6\u522b\u51c6\u786e\u738772%\u219298.3%<br \/>\n *\/<\/span><br \/>\n<span class=\"token annotation punctuation\">&#064;Service<\/span><br \/>\n<span class=\"token keyword\">public<\/span> <span class=\"token keyword\">class<\/span> <span class=\"token class-name\">SensorFusionService<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">private<\/span> <span class=\"token keyword\">final<\/span> <span class=\"token class-name\">KafkaConsumer<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">String<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">SensorData<\/span><span class=\"token punctuation\">&gt;<\/span><\/span> kafkaConsumer<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6d88\u8d39\u4f20\u611f\u5668\u6570\u636e<\/span><br \/>\n    <span class=\"token keyword\">private<\/span> <span class=\"token keyword\">final<\/span> <span class=\"token class-name\">FlinkStreamExecutionEnvironment<\/span> flinkEnv<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6d41\u5904\u7406\u73af\u5883<\/span><br \/>\n    <span class=\"token keyword\">private<\/span> <span class=\"token keyword\">final<\/span> <span class=\"token class-name\">KalmanFilter<\/span> kalmanFilter<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5361\u5c14\u66fc\u6ee4\u6ce2&#xff08;\u5e73\u6ed1\u969c\u788d\u7269\u8f68\u8ff9&#xff09;<\/span><\/p>\n<p>    <span class=\"token comment\">\/**<br \/>\n     * \u5b9e\u65f6\u878d\u5408\u591a\u4f20\u611f\u5668\u6570\u636e&#xff0c;\u751f\u6210\u969c\u788d\u7269\u5168\u666f\u753b\u50cf<br \/>\n     *\/<\/span><br \/>\n    <span class=\"token keyword\">public<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">fuseAndGenerateProfile<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ 1. \u6d88\u8d39\u591a\u6e90\u4f20\u611f\u5668\u6570\u636e&#xff08;\u6309\u65f6\u95f4\u6233\u6392\u5e8f&#xff0c;\u786e\u4fdd\u65f6\u5e8f\u4e00\u81f4&#xff09;<\/span><br \/>\n        <span class=\"token class-name\">DataStream<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">SensorData<\/span><span class=\"token punctuation\">&gt;<\/span><\/span> sensorStream <span class=\"token operator\">&#061;<\/span> flinkEnv<span class=\"token punctuation\">.<\/span><span class=\"token function\">addSource<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">new<\/span> <span class=\"token class-name\">KafkaSource<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sensor_topic&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n            <span class=\"token punctuation\">.<\/span><span class=\"token function\">assignTimestampsAndWatermarks<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">new<\/span> <span class=\"token class-name\">BoundedOutOfOrdernessTimestampExtractor<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">SensorData<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">Time<\/span><span class=\"token punctuation\">.<\/span><span class=\"token function\">milliseconds<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">50<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token annotation punctuation\">&#064;Override<\/span><br \/>\n                <span class=\"token keyword\">public<\/span> <span class=\"token keyword\">long<\/span> <span class=\"token function\">extractTimestamp<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">SensorData<\/span> data<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                    <span class=\"token keyword\">return<\/span> data<span class=\"token punctuation\">.<\/span><span class=\"token function\">getTimestamp<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u57fa\u4e8e\u6570\u636e\u65f6\u95f4\u6233\u6392\u5e8f&#xff0c;\u5bb9\u5fcd50ms\u4e71\u5e8f<\/span><br \/>\n                <span class=\"token punctuation\">}<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ 2. \u6309\u969c\u788d\u7269ID\u5206\u7ec4&#xff08;\u540c\u4e00\u7269\u4f53\u53ef\u80fd\u88ab\u591a\u4e2a\u4f20\u611f\u5668\u68c0\u6d4b&#xff09;<\/span><br \/>\n        <span class=\"token class-name\">KeyedStream<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">SensorData<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">String<\/span><span class=\"token punctuation\">&gt;<\/span><\/span> keyedStream <span class=\"token operator\">&#061;<\/span> sensorStream<span class=\"token punctuation\">.<\/span><span class=\"token function\">keyBy<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">SensorData<\/span><span class=\"token operator\">::<\/span><span class=\"token function\">getObstacleId<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ 3. \u7a97\u53e3\u878d\u5408&#xff08;100ms\u6eda\u52a8\u7a97\u53e3&#xff0c;\u786e\u4fdd\u540c\u4e00\u7269\u4f53\u7684\u591a\u6e90\u6570\u636e\u88ab\u5408\u5e76&#xff09;<\/span><br \/>\n        <span class=\"token class-name\">DataStream<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">ObstacleProfile<\/span><span class=\"token punctuation\">&gt;<\/span><\/span> profileStream <span class=\"token operator\">&#061;<\/span> keyedStream<br \/>\n            <span class=\"token punctuation\">.<\/span><span class=\"token function\">window<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">TumblingProcessingTimeWindows<\/span><span class=\"token punctuation\">.<\/span><span class=\"token function\">of<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">Time<\/span><span class=\"token punctuation\">.<\/span><span class=\"token function\">milliseconds<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n            <span class=\"token punctuation\">.<\/span><span class=\"token function\">apply<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">new<\/span> <span class=\"token class-name\">WindowFunction<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">SensorData<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">ObstacleProfile<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">String<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">TimeWindow<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                <span class=\"token annotation punctuation\">&#064;Override<\/span><br \/>\n                <span class=\"token keyword\">public<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">apply<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">String<\/span> obstacleId<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">TimeWindow<\/span> window<span class=\"token punctuation\">,<\/span><br \/>\n                                 <span class=\"token class-name\">Iterable<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">SensorData<\/span><span class=\"token punctuation\">&gt;<\/span><\/span> datas<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">Collector<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">ObstacleProfile<\/span><span class=\"token punctuation\">&gt;<\/span><\/span> out<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                    <span class=\"token comment\">\/\/ \u521d\u59cb\u5316\u878d\u5408\u7ed3\u679c&#xff08;\u9ed8\u8ba4\u53d6\u5404\u4f20\u611f\u5668\u7684\u5e73\u5747\u503c&#xff09;<\/span><br \/>\n                    <span class=\"token class-name\">ObstacleProfile<\/span> profile <span class=\"token operator\">&#061;<\/span> <span class=\"token keyword\">new<\/span> <span class=\"token class-name\">ObstacleProfile<\/span><span class=\"token punctuation\">(<\/span>obstacleId<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n                    <span class=\"token comment\">\/\/ \u904d\u5386\u591a\u6e90\u6570\u636e&#xff0c;\u6309\u4f20\u611f\u5668\u6743\u91cd\u878d\u5408&#xff08;\u6fc0\u5149\u96f7\u8fbe\u4f4d\u7f6e\u6743\u91cd0.4&#xff0c;\u6444\u50cf\u5934\u7c7b\u522b\u6743\u91cd0.3&#xff0c;V2X\u8f68\u8ff9\u6743\u91cd0.3&#xff09;<\/span><br \/>\n                    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">SensorData<\/span> data <span class=\"token operator\">:<\/span> datas<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;lidar&#034;<\/span><span class=\"token punctuation\">.<\/span><span class=\"token function\">equals<\/span><span class=\"token punctuation\">(<\/span>data<span class=\"token punctuation\">.<\/span><span class=\"token function\">getType<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                            profile<span class=\"token punctuation\">.<\/span><span class=\"token function\">updatePosition<\/span><span class=\"token punctuation\">(<\/span>data<span class=\"token punctuation\">.<\/span><span class=\"token function\">getPosition<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6fc0\u5149\u96f7\u8fbe\u4f4d\u7f6e\u66f4\u51c6&#xff0c;\u6743\u91cd\u9ad8<\/span><br \/>\n                        <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;camera&#034;<\/span><span class=\"token punctuation\">.<\/span><span class=\"token function\">equals<\/span><span class=\"token punctuation\">(<\/span>data<span class=\"token punctuation\">.<\/span><span class=\"token function\">getType<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                            profile<span class=\"token punctuation\">.<\/span><span class=\"token function\">updateCategory<\/span><span class=\"token punctuation\">(<\/span>data<span class=\"token punctuation\">.<\/span><span class=\"token function\">getCategory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6444\u50cf\u5934\u8bc6\u522b\u7c7b\u522b\u66f4\u4f18<\/span><br \/>\n                        <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;v2x&#034;<\/span><span class=\"token punctuation\">.<\/span><span class=\"token function\">equals<\/span><span class=\"token punctuation\">(<\/span>data<span class=\"token punctuation\">.<\/span><span class=\"token function\">getType<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                            profile<span class=\"token punctuation\">.<\/span><span class=\"token function\">updateTrajectory<\/span><span class=\"token punctuation\">(<\/span>data<span class=\"token punctuation\">.<\/span><span class=\"token function\">getTrajectory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0.3<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ V2X\u63d0\u4f9b\u672a\u6765\u8f68\u8ff9<\/span><br \/>\n                        <span class=\"token punctuation\">}<\/span><br \/>\n                    <span class=\"token punctuation\">}<\/span><br \/>\n                    <span class=\"token comment\">\/\/ \u5361\u5c14\u66fc\u6ee4\u6ce2\u5e73\u6ed1\u8f68\u8ff9&#xff08;\u51cf\u5c11\u566a\u58f0\u5e72\u6270&#xff09;<\/span><br \/>\n                    profile<span class=\"token punctuation\">.<\/span><span class=\"token function\">setSmoothedTrajectory<\/span><span class=\"token punctuation\">(<\/span>kalmanFilter<span class=\"token punctuation\">.<\/span><span class=\"token function\">filter<\/span><span class=\"token punctuation\">(<\/span>profile<span class=\"token punctuation\">.<\/span><span class=\"token function\">getTrajectory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n                    out<span class=\"token punctuation\">.<\/span><span class=\"token function\">collect<\/span><span class=\"token punctuation\">(<\/span>profile<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n                <span class=\"token punctuation\">}<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ 4. \u8f93\u51fa\u878d\u5408\u7ed3\u679c\u81f3\u51b3\u7b56\u7cfb\u7edf&#xff08;\u5ef6\u8fdf\u226480ms&#xff09;<\/span><br \/>\n        profileStream<span class=\"token punctuation\">.<\/span><span class=\"token function\">addSink<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">new<\/span> <span class=\"token class-name\">DecisionSink<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u738b\u5de5\u7a0b\u5e08\u53e3\u8ff0\u7ec6\u8282&#xff1a;\u201c\u4ee5\u524d\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u5404\u8bf4\u5404\u8bdd&#xff0c;\u6444\u50cf\u5934\u88ab\u6321\u5c31\u778e\u4e86&#xff1b;\u73b0\u5728\u7cfb\u7edf\u6309\u6743\u91cd\u878d\u5408&#xff0c;\u96f7\u8fbe\u8bf4\u2018\u6709\u884c\u4eba\u2019&#xff0c;\u5c31\u7b97\u6444\u50cf\u5934\u6ca1\u770b\u7740&#xff0c;\u4e5f\u4f1a\u6309\u96f7\u8fbe\u6570\u636e\u9884\u8b66 \u2014\u2014 \u4e0a\u5468\u90a3\u4e2a\u8def\u53e3&#xff0c;\u5c31\u662f\u9760\u8fd9\u903b\u8f91\u5728 0.5 \u7c73\u5185\u5239\u4f4f\u7684\u3002\u201d \u8be5\u65b9\u6848\u8ba9\u969c\u788d\u7269 \u201c\u6f0f\u68c0\u7387\u201d \u4ece 18% \u964d\u81f3 1.7%&#xff0c;\u67d0 Robotaxi \u5728\u66b4\u96e8\u5929\u6c14\u7684\u8bc6\u522b\u51c6\u786e\u7387\u4ecd\u8fbe 92%&#xff08;\u4f20\u7edf\u65b9\u6848\u4ec5 58%&#xff09;\u3002<\/p>\n<h5>1.2 \u52a8\u6001\u969c\u788d\u7269\u8f68\u8ff9\u9884\u6d4b<\/h5>\n<p>\u67d0\u7269\u6d41\u5361\u8f66\u7684 \u201c\u884c\u4eba &#8211; \u8f66\u8f86\u8f68\u8ff9\u9884\u5224\u201d \u6a21\u578b&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u6838\u5fc3\u903b\u8f91&#xff1a;\u57fa\u4e8e\u878d\u5408\u540e\u7684\u969c\u788d\u7269\u4f4d\u7f6e&#xff08;x,y&#xff09;\u548c\u901f\u5ea6&#xff08;vx,vy&#xff09;&#xff0c;\u7528 LSTM \u6a21\u578b\u9884\u6d4b\u672a\u6765 3 \u79d2\u8f68\u8ff9&#xff0c;\u7ed3\u5408\u9053\u8def\u7ed3\u6784&#xff08;\u662f\u5426\u6709\u6a2a\u9053\u7ebf&#xff09;\u8c03\u6574\u7f6e\u4fe1\u5ea6 \u2014\u2014 \u5f53\u884c\u4eba\u5728\u6a2a\u9053\u7ebf\u4e14\u901f\u5ea6 &gt; 1.2m\/s \u65f6&#xff0c;\u9884\u5224 \u201c\u6a2a\u7a7f\u9a6c\u8def\u201d \u6982\u7387\u63d0\u5347\u81f3 95%\u3002<\/p>\n<\/li>\n<li>\n<p>Java \u5b9e\u73b0\u4ee3\u7801\u7247\u6bb5&#xff1a;<\/p>\n<p> <span class=\"token comment\">\/\/ \u9884\u6d4b\u969c\u788d\u7269\u672a\u67653\u79d2\u8f68\u8ff9<\/span><br \/>\n<span class=\"token keyword\">public<\/span> <span class=\"token class-name\">List<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">Point<\/span><span class=\"token punctuation\">&gt;<\/span><\/span> <span class=\"token function\">predictTrajectory<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">ObstacleProfile<\/span> profile<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">RoadStructure<\/span> road<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u63d0\u53d6\u7279\u5f81&#xff1a;\u5f53\u524d\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u9053\u8def\u662f\u5426\u6709\u6a2a\u9053\u7ebf<\/span><br \/>\n    <span class=\"token keyword\">double<\/span><span class=\"token punctuation\">[<\/span><span class=\"token punctuation\">]<\/span> features <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">extractFeatures<\/span><span class=\"token punctuation\">(<\/span>profile<span class=\"token punctuation\">,<\/span> road<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token comment\">\/\/ LSTM\u6a21\u578b\u9884\u6d4b&#xff08;\u7528100\u4e07\u6761\u884c\u4eba\u8f68\u8ff9\u8bad\u7ec3&#xff09;<\/span><br \/>\n    <span class=\"token class-name\">List<\/span><span class=\"token generics\"><span class=\"token punctuation\">&lt;<\/span><span class=\"token class-name\">Point<\/span><span class=\"token punctuation\">&gt;<\/span><\/span> predicted <span class=\"token operator\">&#061;<\/span> lstmModel<span class=\"token punctuation\">.<\/span><span class=\"token function\">predict<\/span><span class=\"token punctuation\">(<\/span>features<span class=\"token punctuation\">,<\/span> <span class=\"token number\">30<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ 30\u4e2a\u65f6\u95f4\u6b65&#xff08;\u6bcf0.1\u79d2\u4e00\u4e2a\u70b9&#xff09;<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u82e5\u5728\u6a2a\u9053\u7ebf\u4e14\u901f\u5ea6\u5feb&#xff0c;\u63d0\u5347\u7f6e\u4fe1\u5ea6<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>road<span class=\"token punctuation\">.<\/span><span class=\"token function\">hasCrosswalk<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&amp;&amp;<\/span> profile<span class=\"token punctuation\">.<\/span><span class=\"token function\">getSpeed<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">1.2<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        predicted<span class=\"token punctuation\">.<\/span><span class=\"token function\">forEach<\/span><span class=\"token punctuation\">(<\/span>p <span class=\"token operator\">-&gt;<\/span> p<span class=\"token punctuation\">.<\/span><span class=\"token function\">setConfidence<\/span><span class=\"token punctuation\">(<\/span>p<span class=\"token punctuation\">.<\/span><span class=\"token function\">getConfidence<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">*<\/span> <span class=\"token number\">1.5<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> predicted<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span>\n <\/li>\n<li>\n<p>\u6548\u679c&#xff1a;\u7269\u6d41\u5361\u8f66\u5728\u5382\u533a\u95e8\u53e3\u5bf9 \u201c\u6a2a\u7a7f\u884c\u4eba\u201d \u7684\u9884\u5224\u51c6\u786e\u7387\u4ece 65% \u5347\u81f3 93%&#xff0c;\u63d0\u524d 0.8 \u79d2\u89e6\u53d1\u51cf\u901f&#xff0c;\u907f\u514d 3 \u8d77\u6f5c\u5728\u78b0\u649e\u3002<\/p>\n<\/li>\n<\/ul>\n<h4>\u4e8c\u3001Java \u9a71\u52a8\u7684\u51b3\u7b56\u7cfb\u7edf\u8bbe\u8ba1<\/h4>\n<h5>2.1 \u7d27\u6025\u51b3\u7b56\u4e0e\u8def\u5f84\u89c4\u5212<\/h5>\n<p>\u67d0 Robotaxi \u7684 \u201c\u52a8\u6001\u907f\u969c\u51b3\u7b56\u201d \u6d41\u7a0b&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730104745-6889f8517749d.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u6838\u5fc3\u4ee3\u7801&#xff08;\u7d27\u6025\u5236\u52a8\u51b3\u7b56&#xff09;&#xff1a;<\/p>\n<p><span class=\"token comment\">\/**<br \/>\n * \u81ea\u52a8\u9a7e\u9a76\u7d27\u6025\u51b3\u7b56\u670d\u52a1&#xff08;\u67d0\u7269\u6d41\u5361\u8f66\u5b9e\u6218&#xff09;<br \/>\n * \u51b3\u7b56\u5ef6\u8fdf500ms\u219280ms&#xff0c;\u5236\u52a8\u8ddd\u79bb\u7f29\u77ed4.2\u7c73<br \/>\n *\/<\/span><br \/>\n<span class=\"token annotation punctuation\">&#064;Service<\/span><br \/>\n<span class=\"token keyword\">public<\/span> <span class=\"token keyword\">class<\/span> <span class=\"token class-name\">EmergencyDecisionService<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">private<\/span> <span class=\"token keyword\">final<\/span> <span class=\"token class-name\">RuleEngine<\/span> ruleEngine<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u98ce\u9669\u8bc4\u4f30\u89c4\u5219\u5f15\u64ce<\/span><br \/>\n    <span class=\"token keyword\">private<\/span> <span class=\"token keyword\">final<\/span> <span class=\"token class-name\">ReinforcementLearningModel<\/span> rlModel<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5f3a\u5316\u5b66\u4e60\u51b3\u7b56\u6a21\u578b<\/span><br \/>\n    <span class=\"token keyword\">private<\/span> <span class=\"token keyword\">final<\/span> <span class=\"token class-name\">CANBusClient<\/span> canClient<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8f66\u8f86\u63a7\u5236API<\/span><\/p>\n<p>    <span class=\"token comment\">\/**<br \/>\n     * \u57fa\u4e8e\u969c\u788d\u7269\u98ce\u9669&#xff0c;\u751f\u6210\u7d27\u6025\u51b3\u7b56\u5e76\u6267\u884c<br \/>\n     *\/<\/span><br \/>\n    <span class=\"token keyword\">public<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">makeAndExecuteDecision<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">ObstacleProfile<\/span> obstacle<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">VehicleState<\/span> vehicle<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token comment\">\/\/ 1. \u8ba1\u7b97\u78b0\u649e\u65f6\u95f4TTC&#xff08;\u5224\u65ad\u98ce\u9669\u7b49\u7ea7&#xff09;<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> ttc <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">calculateTTC<\/span><span class=\"token punctuation\">(<\/span>obstacle<span class=\"token punctuation\">,<\/span> vehicle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u78b0\u649e\u65f6\u95f4&#061;\u8ddd\u79bb\/(\u76f8\u5bf9\u901f\u5ea6)<\/span><br \/>\n        <span class=\"token class-name\">String<\/span> riskLevel <span class=\"token operator\">&#061;<\/span> ruleEngine<span class=\"token punctuation\">.<\/span><span class=\"token function\">evaluate<\/span><span class=\"token punctuation\">(<\/span>ttc<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ ttc&lt;3s\u2192\u9ad8\u98ce\u9669<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ 2. \u9ad8\u98ce\u9669\u65f6\u751f\u6210\u7d27\u6025\u51b3\u7b56&#xff08;\u5236\u52a8&#043;\u8b66\u793a&#xff09;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;high&#034;<\/span><span class=\"token punctuation\">.<\/span><span class=\"token function\">equals<\/span><span class=\"token punctuation\">(<\/span>riskLevel<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n            <span class=\"token class-name\">Decision<\/span> decision <span class=\"token operator\">&#061;<\/span> rlModel<span class=\"token punctuation\">.<\/span><span class=\"token function\">generateDecision<\/span><span class=\"token punctuation\">(<\/span>obstacle<span class=\"token punctuation\">,<\/span> vehicle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u6267\u884c\u7d27\u6025\u5236\u52a8&#xff08;\u4f18\u5148\u4fdd\u8bc1\u5b89\u5168&#xff09;<\/span><br \/>\n            canClient<span class=\"token punctuation\">.<\/span><span class=\"token function\">applyBrake<\/span><span class=\"token punctuation\">(<\/span>decision<span class=\"token punctuation\">.<\/span><span class=\"token function\">getBrakePressure<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5236\u52a8\u538b\u529b30%\u2192\u51cf\u901f\u5ea64.5m\/s\u00b2<\/span><br \/>\n            canClient<span class=\"token punctuation\">.<\/span><span class=\"token function\">horn<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u9e23\u7b1b\u8b66\u793a<\/span><br \/>\n            <span class=\"token comment\">\/\/ \u540c\u6b65\u8ba1\u7b97\u7ed5\u884c\u8f68\u8ff9&#xff08;\u82e5\u6709\u7a7a\u95f4&#xff09;<\/span><br \/>\n            <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">hasAvoidanceSpace<\/span><span class=\"token punctuation\">(<\/span>obstacle<span class=\"token punctuation\">,<\/span> vehicle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n                canClient<span class=\"token punctuation\">.<\/span><span class=\"token function\">steer<\/span><span class=\"token punctuation\">(<\/span>decision<span class=\"token punctuation\">.<\/span><span class=\"token function\">getSteeringAngle<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8f6c\u5411\u89d25\u00b0<\/span><br \/>\n            <span class=\"token punctuation\">}<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><\/p>\n<p>        <span class=\"token comment\">\/\/ 3. \u8bb0\u5f55\u51b3\u7b56\u6548\u679c&#xff0c;\u7528\u4e8e\u6a21\u578b\u4f18\u5316<\/span><br \/>\n        decisionFeedbackService<span class=\"token punctuation\">.<\/span><span class=\"token keyword\">record<\/span><span class=\"token punctuation\">(<\/span>obstacle<span class=\"token punctuation\">,<\/span> vehicle<span class=\"token punctuation\">,<\/span> decision<span class=\"token punctuation\">,<\/span> actualStoppingDistance<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u8ba1\u7b97\u78b0\u649e\u65f6\u95f4TTC<\/span><br \/>\n    <span class=\"token keyword\">private<\/span> <span class=\"token keyword\">double<\/span> <span class=\"token function\">calculateTTC<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">ObstacleProfile<\/span> obstacle<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">VehicleState<\/span> vehicle<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> distance <span class=\"token operator\">&#061;<\/span> obstacle<span class=\"token punctuation\">.<\/span><span class=\"token function\">getDistance<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">double<\/span> relativeSpeed <span class=\"token operator\">&#061;<\/span> obstacle<span class=\"token punctuation\">.<\/span><span class=\"token function\">getSpeed<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span> vehicle<span class=\"token punctuation\">.<\/span><span class=\"token function\">getSpeed<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u76f8\u5bf9\u901f\u5ea6&#xff08;\u76f8\u5411\u800c\u884c&#xff09;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> relativeSpeed <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span> <span class=\"token operator\">?<\/span> <span class=\"token class-name\">Double<\/span><span class=\"token punctuation\">.<\/span>MAX_VALUE <span class=\"token operator\">:<\/span> distance <span class=\"token operator\">\/<\/span> relativeSpeed<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u6548\u679c\u5bf9\u6bd4\u8868&#xff08;\u7d27\u6025\u5236\u52a8\u6027\u80fd&#xff09;&#xff1a;<\/p>\n<table>\n<tr>\u6307\u6807\u4f20\u7edf\u65b9\u6848&#xff08;\u5355\u4e00\u4f20\u611f\u5668&#xff09;Java \u878d\u5408\u65b9\u6848&#xff08;\u591a\u4f20\u611f\u5668 &#043; \u5f3a\u5316\u5b66\u4e60&#xff09;\u63d0\u5347\u5e45\u5ea6<\/tr>\n<tbody>\n<tr>\n<td>\u51b3\u7b56\u5ef6\u8fdf<\/td>\n<td>500ms<\/td>\n<td>80ms<\/td>\n<td>420ms<\/td>\n<\/tr>\n<tr>\n<td>\u5236\u52a8\u8ddd\u79bb&#xff08;\u65f6\u901f 36km\/h&#xff09;<\/td>\n<td>12.5 \u7c73<\/td>\n<td>8.3 \u7c73<\/td>\n<td>4.2 \u7c73<\/td>\n<\/tr>\n<tr>\n<td>\u78b0\u649e\u907f\u514d\u7387<\/td>\n<td>62%<\/td>\n<td>98%<\/td>\n<td>36 \u4e2a\u767e\u5206\u70b9<\/td>\n<\/tr>\n<tr>\n<td>\u8bef\u5236\u52a8\u6b21\u6570&#xff08;\/100km&#xff09;<\/td>\n<td>7.2 \u6b21<\/td>\n<td>1.3 \u6b21<\/td>\n<td>5.9 \u6b21<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h5>2.2 V2X \u8f66\u8def\u534f\u540c\u51b3\u7b56<\/h5>\n<p>\u67d0\u81ea\u52a8\u9a7e\u9a76\u516c\u4ea4\u7684 \u201c\u7ea2\u7eff\u706f\u534f\u540c\u901a\u884c\u201d \u7b56\u7565&#xff1a;<\/p>\n<ul>\n<li>\u75db\u70b9&#xff1a;\u516c\u4ea4\u5728\u8def\u53e3\u56e0\u672a\u9884\u77e5\u7ea2\u7eff\u706f\u65f6\u957f&#xff0c;\u9891\u7e41\u6025\u5239\u7b49\u5f85&#xff0c;\u901a\u884c\u6548\u7387\u4e0b\u964d 35%&#xff0c;\u4e58\u5ba2\u6295\u8bc9 \u201c\u98a0\u7c38\u201d \u5360\u6bd4 61%\u3002<\/li>\n<li>Java \u65b9\u6848&#xff1a;Flink \u5b9e\u65f6\u63a5\u6536 V2X \u4fe1\u53f7&#xff08;\u7ea2\u7eff\u706f\u5269\u4f59\u65f6\u957f&#xff09;&#xff0c;\u7ed3\u5408\u516c\u4ea4\u5f53\u524d\u901f\u5ea6\u548c\u8ddd\u79bb&#xff0c;\u51b3\u7b56 \u201c\u5300\u901f\u901a\u8fc7\u201d \u6216 \u201c\u51cf\u901f\u7b49\u5f85\u201d\u2014\u2014 \u5f53\u5269\u4f59\u7eff\u706f\u65f6\u95f4 &gt; 5 \u79d2\u4e14\u8ddd\u79bb &lt; 200 \u7c73\u65f6&#xff0c;\u7ef4\u6301\u5f53\u524d\u901f\u5ea6&#xff08;20km\/h&#xff09;\u901a\u8fc7&#xff1b;\u5426\u5219\u5e73\u7a33\u51cf\u901f\u81f3\u505c\u6b62\u3002<\/li>\n<li>\u516c\u4ea4\u53f8\u673a\u674e\u5e08\u5085\u8bf4&#xff1a;\u201c\u4ee5\u524d\u5feb\u5230\u8def\u53e3\u5c31\u778e\u731c&#xff0c;\u73b0\u5728\u7cfb\u7edf\u77e5\u9053\u7eff\u706f\u8fd8\u5269\u51e0\u79d2&#xff0c;\u8be5\u5feb\u8be5\u6162\u5fc3\u91cc\u6709\u6570&#xff0c;\u4e58\u5ba2\u8bf4\u7a33\u591a\u4e86\u3002\u201d<\/li>\n<li>\u7ed3\u679c&#xff1a;\u8def\u53e3\u901a\u884c\u6548\u7387\u63d0\u5347 35%&#xff0c;\u6025\u5239\u6b21\u6570\u964d 72%&#xff0c;\u4e58\u5ba2\u6ee1\u610f\u5ea6\u4ece 65%\u219291%\u3002<\/li>\n<\/ul>\n<h4>\u4e09\u3001\u5b9e\u6218\u6848\u4f8b&#xff1a;\u4ece \u201c\u9669\u8c61\u73af\u751f\u201d \u5230 \u201c\u5e73\u7a33\u901a\u884c\u201d<\/h4>\n<h5>3.1 Robotaxi \u57ce\u5e02\u8def\u53e3&#xff1a;0.5 \u7c73\u5185\u7684\u751f\u6b7b\u5239\u8f66<\/h5>\n<ul>\n<li>\u75db\u70b9&#xff1a;\u6fc0\u5149\u96f7\u8fbe\u68c0\u6d4b\u5230\u884c\u4eba&#xff0c;\u4f46\u6444\u50cf\u5934\u88ab\u516c\u4ea4\u8f66\u906e\u6321&#xff0c;\u7cfb\u7edf\u672a\u878d\u5408\u6570\u636e&#xff0c;\u5236\u52a8\u5ef6\u8fdf 500ms&#xff0c;\u5239\u8f66\u8ddd\u79bb\u5dee 0.5 \u7c73\u9669\u4e9b\u78b0\u649e<\/li>\n<li>Java \u65b9\u6848&#xff1a;Flink \u6309\u6743\u91cd\u878d\u5408\u96f7\u8fbe\u4e0e\u6444\u50cf\u5934\u6570\u636e&#xff08;\u96f7\u8fbe\u6743\u91cd 0.4&#xff09;&#xff0c;\u5f3a\u5316\u5b66\u4e60\u51b3\u7b56 80ms \u5185\u89e6\u53d1\u5236\u52a8&#xff0c;\u7ed3\u5408 V2X 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