{"id":547,"date":"2025-01-27T16:47:57","date_gmt":"2025-01-27T08:47:57","guid":{"rendered":"https:\/\/aimc.skyate.com\/?p=547"},"modified":"2025-01-31T19:05:43","modified_gmt":"2025-01-31T11:05:43","slug":"ai_system_introduction","status":"publish","type":"post","link":"https:\/\/aimc.skyate.com\/index.php\/2025\/01\/27\/ai_system_introduction\/","title":{"rendered":"\u3010\u9636\u6bb5\u4e8c\u30117 \u667a\u80fd\u63a7\u5236\u6982\u8ff0"},"content":{"rendered":"\n<p><a href=\"https:\/\/aimc.skyate.com\/index.php\/2024\/11\/06\/intelligent_system_design_tutorial_0\/\">\u3010\u6982\u8ff0\u30110 \u4ec0\u4e48\u662f\u667a\u80fd\u7cfb\u7edf<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/aimc.skyate.com\/index.php\/2024\/11\/09\/%e3%80%90%e9%98%b6%e6%ae%b5%e4%b8%80%e3%80%911-platformio%e7%8e%af%e5%a2%83%e9%85%8d%e7%bd%ae%e5%92%8cgpio\/\">\u3010\u9636\u6bb5\u4e00\u30111 PlatformIO\u73af\u5883\u914d\u7f6e\u548cGPIO<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/aimc.skyate.com\/index.php\/2024\/11\/16\/esp32_part2_pwm\/\">\u3010\u9636\u6bb5\u4e00\u30112 PWM\u4e0e\u7535\u673a\u63a7\u5236<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/aimc.skyate.com\/index.php\/2024\/11\/24\/external-breaks-and-timer-breaks\/\">\u3010\u9636\u6bb5\u4e00\u30113 \u5916\u90e8\u4e2d\u65ad\u548c\u5b9a\u65f6\u5668\u4e2d\u65ad<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/aimc.skyate.com\/index.php\/2024\/12\/04\/uart_and_uart_interrupt\/\">\u3010\u9636\u6bb5\u4e00\u30114 \u4e32\u53e3\u4e0e\u4e32\u53e3\u4e2d\u65ad<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/aimc.skyate.com\/index.php\/2024\/12\/07\/esp32_part5_i2c_and_mpu6050\/\">\u3010\u9636\u6bb5\u4e00\u30115 I2C\u4e0eMPU6050\u6a21\u5757<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/aimc.skyate.com\/index.php\/2024\/12\/17\/esp32_part6_car\/\">\u3010\u9636\u6bb5\u4e00\u30116 \u57fa\u7840\u5c0f\u8f66\u8bbe\u8ba1<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/aimc.skyate.com\/index.php\/2025\/01\/27\/ai_system_introduction\/\">\u3010\u9636\u6bb5\u4e8c\u30117 \u667a\u80fd\u7cfb\u7edf\u6982\u8ff0<\/a><\/p>\n\n\n\n<h1 class=\"wp-block-heading\">7.1 \u81ea\u52a8\u63a7\u5236\u7cfb\u7edf<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">7.1.1 \u4ec0\u4e48\u662f\u81ea\u52a8\u63a7\u5236\u7cfb\u7edf<\/h2>\n\n\n\n<p>\u81ea\u52a8\u63a7\u5236\u662f\u6307\u5728\u65e0\u4eba\u76f4\u63a5\u53c2\u4e0e\u7684\u60c5\u51b5\u4e0b\uff0c\u5229\u7528\u63a7\u5236\u5668\uff08\u6216\u7cfb\u7edf\uff09\u4f7f\u88ab\u63a7\u5bf9\u8c61\uff08\u6216\u8fc7\u7a0b\uff09\u6309\u7167\u7ed9\u5b9a\u89c4\u5f8b\uff08\u7ed9\u5b9a\u4fe1\u53f7\uff0c\u8f93\u5165\u4fe1\u53f7\uff09\u81ea\u52a8\u8fd0\u884c\u6216\u4fdd\u6301\u72b6\u6001\u4e0d\u53d8\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"285\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-39-1024x285.png\" alt=\"\" class=\"wp-image-568\" style=\"width:485px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-39-1024x285.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-39-300x83.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-39-768x213.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-39-1536x427.png 1536w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-39.png 1576w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<p>\u81ea\u52a8\u63a7\u5236\u7684\u76ee\u7684\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u901a\u8fc7\u81ea\u52a8\u63a7\u5236\u51cf\u8f7b\u4eba\u7684\u4f53\u529b\u3001\u8111\u529b\u52b3\u52a8\u5f3a\u5ea6\uff1b<\/li>\n\n\n\n<li>\u63d0\u9ad8\u63a7\u5236\u6548\u7387\u548c\u63a7\u5236\u7cbe\u5ea6\uff1b<\/li>\n\n\n\n<li>\u63d0\u9ad8\u751f\u4ea7\u6548\u7387\u548c\u4ea7\u54c1\u8d28\u91cf\uff1b<\/li>\n\n\n\n<li>\u5b9e\u73b0\u673a\u5668\u9010\u6b65\u66ff\u4ee3\u4eba\u7684\u667a\u529b\uff0c\u5b9e\u73b0\u667a\u80fd\u81ea\u52a8\u5316\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6211\u4eec\u671f\u671b\u5728\u8f93\u5165\u4fe1\u53f7\u7684\u4f5c\u7528\u4e0b\uff0c\u8ba9\u88ab\u63a7\u5bf9\u8c61\u80fd\u5feb\u901f\u3001\u7a33\u5b9a\u3001\u51c6\u786e\u7684\u6309\u7167\u9884\u5b9a\u7684\u89c4\u5f8b\u8fd0\u884c\u6216\u4fdd\u6301\u4e0d\u53d8\u3002\u5373\u5728<strong>\u6709\u5e72\u6270<\/strong>\u548c<strong>\u88ab\u63a7\u5bf9\u8c61\u53c2\u6570\u53d8\u5316<\/strong>\u7684\u4e0d\u5229\u60c5\u51b5\u4e0b\uff0c\u63a7\u5236\u4f5c\u7528\u4ecd\u80fd\u4fdd\u6301\u7cfb\u7edf\u4ee5\u5141\u8bb8\u7684\u8bef\u5dee\u6309\u9884\u5b9a\u7684\u89c4\u5f8b\u8fd0\u884c\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"301\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-38-1024x301.png\" alt=\"\" class=\"wp-image-567\" style=\"width:383px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-38-1024x301.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-38-300x88.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-38-768x226.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-38.png 1297w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<p>\u5bf9\u4e8e\u4e00\u4e2a\u81ea\u52a8\u63a7\u5236\u7cfb\u7edf\u800c\u8a00\uff0c\u6211\u4eec\u5e0c\u671b\u901a\u8fc7\u7a33\u5b9a\u6027\u3001\u5feb\u901f\u6027\u3001\u51c6\u786e\u6027\u4e09\u4e2a\u7ef4\u5ea6\u53bb\u8861\u91cf\u5176\u4f18\u52a3\u3002\u4e5f\u5c31\u662f\u8981\u6c42\u88ab\u63a7\u5bf9\u8c61\u5728\u63a7\u5236\u5668\u7684\u63a7\u5236\u4f5c\u7528\u4e0b\uff0c\u5c3d\u53ef\u80fd\u5730\u5feb\u3001\u7a33\u3001\u51c6\u5730\u6309\u7167\u7ed9\u5b9a\u7684\u89c4\u5f8b\u8fd0\u884c\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"730\" height=\"602\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-37.png\" alt=\"\" class=\"wp-image-566\" style=\"width:330px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-37.png 730w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-37-300x247.png 300w\" sizes=\"auto, (max-width: 730px) 100vw, 730px\" \/><\/figure>\n<\/div>\n\n\n<p>\u7136\u800c\u5728\u63a7\u5236\u4e2d\u5b58\u5728\u4e00\u4e2a\u77db\u76fe\u95ee\u9898\uff1a<strong>\u5728\u81ea\u52a8\u63a7\u5236\u7cfb\u7edf\u4e2d\u5feb\u901f\u6027\u3001\u7a33\u5b9a\u6027\u548c\u51c6\u786e\u6027\u4e09\u8005\u4e4b\u95f4\u5f80\u5f80\u5b58\u5728\u7740\u77db\u76fe\uff0c\u8981\u5feb\u5c31\u96be\u7a33\uff0c\u8981\u7a33\u5c31\u96be\u51c6\u3002<\/strong>\u89e3\u51b3\u63a7\u5236\u7cfb\u7edf\u5feb\u7a33\u51c6\u7684\u95ee\u9898\u662f\u63a7\u5236\u754c\u9762\u4e34\u7684\u91cd\u8981\u8bfe\u9898\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">7.1.2 \u53cd\u9988\u63a7\u5236<\/h2>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"247\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-36-1024x247.png\" alt=\"\" class=\"wp-image-565\" style=\"width:401px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-36-1024x247.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-36-300x72.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-36-768x185.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-36.png 1057w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<p>\u5982\u56fe\u6240\u793a\u4e3a\u63a7\u5236\u7cfb\u7edf\u7684\u57fa\u672c\u7ed3\u6784\u3002\u4e0b\u9762\u4ee5\u4eba\u7c7b\u63a7\u5236\u8f66\u8f86\u8fd0\u884c\u901f\u5ea6\u4e3a\u4f8b\u8fdb\u884c\u8bb2\u89e3\uff1a<\/p>\n\n\n\n<p>\u2460 \u8f93\u5165\u7684\u671f\u671b\u72b6\u6001\uff1a\u6211\u5e0c\u671b\u8f66\u5b50\u8fd0\u884c\u901f\u5ea6\u4e3a20km\/h\uff1b<\/p>\n\n\n\n<p>\u2461 \u6211\u9700\u8981\u83b7\u53d6\u88ab\u63a7\u5bf9\u8c61\u5f53\u524d\u7684\u72b6\u6001\uff1a\u4f8b\u5982\u8f66\u5b50\u6b64\u65f6\u7684\u65f6\u901f\u4e3a17km\/h\uff1b<\/p>\n\n\n\n<p>\u2462 \u90a3\u4e48\u6211\u9700\u8981\u83b7\u53d6\u201d\u5f53\u524d\u72b6\u6001\u201c\u4e0e\u201d\u671f\u671b\u72b6\u6001\u201c\u4e4b\u95f4\u7684\u5dee\u503c\uff0c\u4e5f\u5c31\u662f<strong>\u8bef\u5dee<\/strong>\uff0c\u4e3a17-20=-3km\/h\uff1b<\/p>\n\n\n\n<p>\u2463 \u4eba\u4f5c\u4e3a\u201d\u63a7\u5236\u5668\u201c\uff0c\u6211\u9700\u8981\u6839\u636e\u8bef\u5dee\u7684\u5927\u5c0f\u5224\u65ad\u7ed9\u51fa\u76f8\u5e94\u7684\u63a7\u5236\u91cf\uff08\u4e5f\u5c31\u662f\u7ed9\u591a\u5c11\u6cb9\u95e8\uff09\uff1b<\/p>\n\n\n\n<p>\u2464 \u7531\u4e8e\u6b64\u65f6\u8bef\u5dee\u4e3a\u4e3a-3\uff0c\u5219\u9700\u8981\u52a0\u5927\u6cb9\u95e8\u3002<\/p>\n\n\n\n<p>\u2465 \u91cd\u590d\u2460-\u2464\u6b65\u3002<\/p>\n\n\n\n<p>\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u7406\u60f3\u4e2d\u7684\u63a7\u5236\u7cfb\u7edf\u9700\u8981\u4e0d\u65ad\u5730\u6839\u636e\u88ab\u63a7\u5bf9\u8c61\u7684\u5f53\u524d\u72b6\u6001\u548c\u671f\u671b\u72b6\u6001\u8fdb\u884c\u6bd4\u8f83\uff0c\u4ece\u800c\u51b3\u5b9a\u63a7\u5236\u91cf\u7684\u5927\u5c0f\uff0c\u4e5f\u5c31\u662f\u9700\u8981\u4e0d\u65ad\u7684<strong>\u6bd4\u8f83\u8f93\u5165\u548c\u8f93\u51fa\u7684\u5dee\u5f02\u2192\u8bef\u5dee<\/strong>\u3002\u8fd9\u5c31\u662f<strong>\u53cd\u9988\u63a7\u5236<\/strong>\u3002<\/p>\n\n\n\n<p><strong>\u53cd\u9988\u63a7\u5236\uff1a<\/strong>\u5c06\u8f93\u51fa\u53cd\u9988\u5230\u8f93\u5165\u4e00\u4fa7\uff0c\u5e76\u6bd4\u8f83\u4e0e\u8f93\u5165\u7684\u8bef\u5dee\u3002\u8bbe\u8ba1\u4e00\u4e2a<strong>\u4ee5\u8bef\u5dee\uff08\u5305\u542b\u8bef\u5dee\u7684<\/strong><strong>\u5bfc\u6570<\/strong><strong>\u3001\u79ef\u5206\uff09\u4e3a\u53d8\u91cf\u7684\u63a7\u5236\u5f8b<\/strong>\uff0c\u901a\u8fc7\u4e0d\u65ad\u5730<strong>\u8d1f\u53cd\u9988<\/strong>\u4f5c\u7528\uff0c\u4f7f\u8f93\u51fa\u4e0e\u8f93\u5165\u7684\u8bef\u5dee\u4e0d\u65ad\u51cf\u5c0f\uff0c\u76f4\u5230\u6ee1\u8db3\u8981\u6c42\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">7.1.3 \u81ea\u52a8\u63a7\u5236\u57fa\u672c\u539f\u7406(PID\u7b97\u6cd5)<\/h2>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"431\" height=\"299\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-35.png\" alt=\"\" class=\"wp-image-564\" style=\"width:237px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-35.png 431w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-35-300x208.png 300w\" sizes=\"auto, (max-width: 431px) 100vw, 431px\" \/><\/figure>\n<\/div>\n\n\n<p>\u5982\u56fe\u6240\u793a\u4e3a\u4e00\u4e2a\u7535\u52a0\u70ed\u7089\uff0c\u7528\u4e8e\u70e7\u6c34\u3002\u901a\u8fc7\u8c03\u6574\u7535\u963b\u4e1d\u4e24\u7aef\u7684\u7535\u538b\uff0c\u6211\u4eec\u53ef\u4ee5\u8c03\u6574\u52a0\u70ed\u529f\u7387\u3002\u5982\u679c\u6211\u4eec\u60f3\u5c06\u6c34\u6e29\u7ef4\u6301\u5728\u4e00\u4e2a\u7ed9\u5b9a\u7684\u6e29\u5ea6\u4e0b\u3002\u6211\u4eec\u6765\u770b\u770b\u5982\u4f55\u63a7\u5236\u5b83\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">7.1.3.1 \u6bd4\u4f8b\u63a7\u5236\u2014\u2014\u4e3b\u8981\u6ee1\u8db3\u5bf9\u63a7\u5236\u7cfb\u7edf\u201c\u5feb\u201d\u7684\u8981\u6c42<\/h3>\n\n\n\n<p>\u6c34\u6e29\uff0c\u6709\u5b83\u73b0\u5728\u7684<strong>\u300e\u5f53\u524d\u503c\u300f<\/strong>\uff0c\u4e5f\u6709\u6211\u4eec\u671f\u671b\u7684<strong>\u300e\u76ee\u6807\u503c\u300f<\/strong>\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53\u4e24\u8005\u5dee\u8ddd\u4e0d\u5927\u65f6\uff0c\u5c31\u8ba9\u52a0\u70ed\u5668\u201c\u8f7b\u8f7b\u5730\u201d\u52a0\u70ed\u4e00\u4e0b\uff0c<strong>\u4e5f\u5c31\u662f\u7ed9\u8f83\u5c0f\u7684\u63a7\u5236\u91cf\uff08\u8f83\u4f4e\u7684\u7535\u538b\uff09<\/strong>\u3002<\/li>\n\n\n\n<li>\u8981\u662f\u56e0\u4e3a\u67d0\u4e9b\u539f\u56e0\uff0c\u6e29\u5ea6\u964d\u4f4e\u4e86\u5f88\u591a\uff0c\u5c31\u8ba9\u52a0\u70ed\u5668\u201c\u7a0d\u7a0d\u7528\u529b\u201d\u52a0\u70ed\u4e00\u4e0b\uff0c<strong>\u4e5f\u5c31\u662f\u7a0d\u5fae\u52a0\u5927\u4e00\u4e9b\u63a7\u5236\u91cf\uff08\u7a0d\u5fae\u52a0\u5927\u4e00\u70b9\u7535\u538b\uff09<\/strong>\u3002<\/li>\n\n\n\n<li>\u8981\u662f\u5f53\u524d\u6e29\u5ea6\u6bd4\u76ee\u6807\u6e29\u5ea6\u4f4e\u5f97\u591a\uff0c\u5c31\u8ba9\u52a0\u70ed\u5668\u201c\u5f00\u8db3\u9a6c\u529b\u201d\u52a0\u70ed\uff0c\u5c3d\u5feb\u8ba9\u6c34\u6e29\u5230\u8fbe\u76ee\u6807\u9644\u8fd1\uff0c<strong>\u4e5f\u5c31\u662f\u7ed9\u8f83\u5927\u7684\u63a7\u5236\u91cf\uff08\u8f83\u5927\u7684\u7535\u538b\uff09<\/strong>\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e5f\u5c31\u662f\u8bf4\uff0c\u6bd4\u4f8b\u63a7\u5236\u5668\u7684\u8f93\u51fa\u4fe1\u53f7\u6b63\u6bd4\u4e8e\u7cfb\u7edf\u8bef\u5dee\uff0c\u8bef\u5dee\u4e00\u65e6\u51fa\u73b0\uff0c\u6bd4\u4f8b\u63a7\u5236\u5c31\u4f1a\u53d1\u751f\u4f5c\u7528\u3002\u90a3\u4e48\u63a7\u5236\u91cfu(t)\u7684\u5927\u5c0f\u7531\u8bef\u5dee\u7684\u5927\u5c0f\u51b3\u5b9a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"515\" height=\"102\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-34.png\" alt=\"\" class=\"wp-image-563\" style=\"width:189px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-34.png 515w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-34-300x59.png 300w\" sizes=\"auto, (max-width: 515px) 100vw, 515px\" \/><\/figure>\n<\/div>\n\n\n<p>kP\u8d8a\u5927\uff0c\u8c03\u8282\u4f5c\u7528\u8d8a\u6fc0\u8fdb\uff0c<\/p>\n\n\n\n<p>kP\u8c03\u5c0f\u4f1a\u8ba9\u8c03\u8282\u4f5c\u7528\u66f4\u4fdd\u5b88\u3002<\/p>\n\n\n\n<p>\u7406\u60f3\u60c5\u51b5\u4e0b\uff0c\u53ef\u4ee5\u5f88\u5feb\u7684\u5c06\u6e29\u5ea6\u7ef4\u6301\u5728\u6307\u5b9a\u6e29\u5ea6\u3002\u7136\u800c\u6211\u4eec\u63a7\u5236\u7684\u5bf9\u8c61\u662f\u6709\u60ef\u6027\u7684\u2014\u2014\u70ed\u60ef\u6027\uff1a\u62d4\u6389\u52a0\u70ed\u5668\uff0c\u4f59\u70ed\u5c06\u7ee7\u7eed\u52a0\u6e29\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">7.1.3.2 \u5fae\u5206\u63a7\u5236\u2014\u2014\u4e3b\u8981\u6ee1\u8db3\u5bf9\u63a7\u5236\u7cfb\u7edf\u201c\u7a33\u201d\u7684\u8981\u6c42<\/h3>\n\n\n\n<p>\u53ea\u6709\u6bd4\u4f8b\u6c34\u6e29\u63a7\u5236\u5f97\u6643\u6643\u60a0\u60a0\uff0c\u597d\u50cf\u6574\u4e2a\u7cfb\u7edf\u4e0d\u662f\u7279\u522b\u7a33\u5b9a\uff0c\u603b\u662f\u5728\u201c\u6296\u52a8\u201d\u3002<\/p>\n\n\n\n<p>\u9700\u8981\u4e00\u4e2a\u63a7\u5236\u4f5c\u7528\uff0c\u8ba9\u88ab\u63a7\u5236\u7684<strong>\u7269\u7406\u91cf\u7684\u201c\u53d8\u5316\u901f\u5ea6\u201d\u8d8b\u4e8e0<\/strong>\uff0c\u5373\u7c7b\u4f3c\u4e8e\u201c\u963b\u5c3c\u201d\u7684\u4f5c\u7528\u3002<\/p>\n\n\n\n<p><strong>\u5fae\u5206\u63a7\u5236\uff08D\uff09\u7684\u4f5c\u7528\u5c31\u662f\u8ba9\u7269\u7406\u91cf\u7684\u901f\u5ea6\u8d8b\u4e8e0\uff0c\u53ea\u8981\u4ec0\u4e48\u65f6\u5019\uff0c\u8fd9\u4e2a\u91cf\u5177\u6709\u4e86\u901f\u5ea6\uff0cD\u5c31\u5411\u76f8\u53cd\u7684\u65b9\u5411\u7528\u529b\uff0c\u5c3d\u529b\u5239\u4f4f\u8fd9\u4e2a\u53d8\u5316\u3002<\/strong><\/p>\n\n\n\n<p>\u5fae\u5206\u5bf9\u53d8\u5316\u5feb\u7684\u4fe1\u53f7\u654f\u611f\uff0c\u5fae\u5206\u7684\u4f5c\u7528\u662f\u901a\u8fc7\u8bef\u5dee\u53d8\u5316\u7684\u53d8\u5316\u7387\u9884\u62a5\u8bef\u5dee\u53d8\u5316\u8d8b\u52bf\u3002\u5c06\u5fae\u5206\u73af\u8282\u5f15\u5165\u53cd\u9988\u56de\u8def\u53ef\u6539\u5584\u7cfb\u7edf\u52a8\u6001\u7279\u6027\u3002<\/p>\n\n\n\n<p>\u5fae\u5206\u63a7\u5236\u4e0d\u80fd\u5355\u72ec\u4f7f\u7528\uff0c\u9700\u8981\u548c\u6bd4\u4f8b\u63a7\u5236\u4e00\u8d77\u4f7f\u7528\uff0c\u5373<strong>PD<\/strong><strong>\u63a7\u5236<\/strong>\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"918\" height=\"168\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-33.png\" alt=\"\" class=\"wp-image-562\" style=\"width:452px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-33.png 918w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-33-300x55.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-33-768x141.png 768w\" sizes=\"auto, (max-width: 918px) 100vw, 918px\" \/><\/figure>\n<\/div>\n\n\n<p>PD\u63a7\u5236\u5668\u80fd\u628a\u6c34\u6e29\u63a7\u5236\u7684\u975e\u5e38\u51c6\u5417\uff1f<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">7.1.3.3 \u79ef\u5206\u63a7\u5236\u2014\u2014\u4e3b\u8981\u6ee1\u8db3\u5bf9\u63a7\u5236\u7cfb\u7edf\u201c\u51c6\u201d\u7684\u8981\u6c42<\/h3>\n\n\n\n<p>\u5047\u8bbe\u52a0\u70ed\u88c5\u7f6e\u5904\u4e8e\u975e\u5e38\u51b7\u7684\u5730\u65b9\uff0c\u5f00\u59cb\u70e7\u6c34\u4e86\u3002\u9700\u8981\u70e7\u523050\u2103\u3002<\/p>\n\n\n\n<p>\u5728P\u7684\u4f5c\u7528\u4e0b\uff0c\u6c34\u6e29\u6162\u6162\u5347\u9ad8\u3002\u76f4\u5230\u5347\u9ad8\u523045\u2103\u65f6\uff1a<strong>\u5929\u6c14\u592a\u51b7\uff0c\u6c34\u6563\u70ed\u7684\u901f\u5ea6\uff0c\u548cP\u63a7\u5236\u7684\u52a0\u70ed\u7684\u901f\u5ea6\u76f8\u7b49\u4e86<\/strong>\u3002\u6b64\u65f6\uff0c\u6bd4\u4f8b\u63a7\u5236\u548c\u5fae\u5206\u63a7\u5236\u5404\u81ea\u4f1a\u600e\u6837\u5462\uff1f<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"296\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-32-1024x296.png\" alt=\"\" class=\"wp-image-561\" style=\"width:534px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-32-1024x296.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-32-300x87.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-32-768x222.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-32.png 1411w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6bd4\u4f8b\u73af\u8282\uff1a<\/strong>\u548c\u76ee\u6807\u6e29\u5ea6\u53ea\u5dee5\u2103\u4e86\uff0c\u5df2\u7ecf\u5f88\u8fd1\u4e86\uff0c\u53ea\u9700\u8981\u8f7b\u8f7b\u52a0\u70ed\u5c31\u53ef\u4ee5\u4e86\u3002<\/li>\n\n\n\n<li><strong>\u5fae\u5206\u73af\u8282\uff1a<\/strong>\u52a0\u70ed\u529f\u7387\u548c\u6563\u70ed\u529f\u7387\u76f8\u7b49\uff0c\u6e29\u5ea6\u6ca1\u6709\u6ce2\u52a8\uff0c\u4e0d\u7528\u8c03\u6574\u4ec0\u4e48\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6700\u7ec8\u5448\u73b0\u51fa\u4e00\u4e2a\u6548\u679c\uff1a<strong>\u6c34\u6e29\u6c38\u8fdc\u5730\u505c\u7559\u572845\u2103\uff0c\u6c38\u8fdc\u5230\u4e0d\u4e8650\u2103<\/strong>\u3002<\/p>\n\n\n\n<p>\u89e3\u51b3\u65b9\u6848\u662f\u7ee7\u7eed\u589e\u52a0\u52a0\u70ed\u529f\u7387\uff0c\u4f46\u95ee\u9898\u662f\u5e94\u8be5\u5982\u4f55\u51b3\u5b9a\u589e\u52a0\u591a\u5c11\u529f\u7387\u5462\uff1f<\/p>\n\n\n\n<p>\u8fd9\u5c31\u9700\u8981\u79ef\u5206\u73af\u8282\u6765\u5b8c\u6210\u4e86\uff0c\u8bbe\u7f6e\u4e00\u4e2a\u79ef\u5206\u91cf\u3002\u53ea\u8981\u504f\u5dee\u5b58\u5728\uff0c\u5c31\u4e0d\u65ad\u5730\u5bf9\u504f\u5dee\u8fdb\u884c\u79ef\u5206\uff08\u7d2f\u52a0\uff09\uff0c\u5e76\u53cd\u5e94\u5728\u8c03\u8282\u529b\u5ea6\u4e0a\u3002<strong>\u5728\u63a7\u5236\u8fc7\u7a0b\u4e2d\u5bf9\u8bef\u5dee\u4fe1\u53f7\u7684\u79ef\u5206\u4ea7\u751f\u79ef\u5206\u63a7\u5236\u4f5c\u7528\uff0c\u53bb\u6d88\u9664\u7cfb\u7edf\u7684\u7a33\u6001\u8bef\u5dee\uff0c\u5373\u4f7f\u8bef\u5dee\u4e3a\u96f6\u3002<\/strong>\u7531\u4e8e\u79ef\u5206\u63a7\u5236\u4f5c\u7528\uff0c\u5e38\u503c\u5e72\u6270\u4fe1\u53f7\u4e0d\u4f1a\u5f71\u54cd\u7cfb\u7edf\u7684\u7a33\u6001\u7279\u6027\u3002\u901a\u5e38\u5c06\u79ef\u5206\u63a7\u5236\u4e0e\u6bd4\u4f8b\u63a7\u5236\u8054\u5408\u4f7f\u7528\uff0c\u5373PI\u63a7\u5236\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1008\" height=\"227\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-31.png\" alt=\"\" class=\"wp-image-560\" style=\"width:354px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-31.png 1008w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-31-300x68.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-31-768x173.png 768w\" sizes=\"auto, (max-width: 1008px) 100vw, 1008px\" \/><\/figure>\n<\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"225\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-30-1024x225.png\" alt=\"\" class=\"wp-image-559\" style=\"width:574px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-30-1024x225.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-30-300x66.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-30-768x169.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-30-1536x337.png 1536w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-30.png 1775w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<p>\u56e0\u6b64PID\u7b97\u6cd5\u662f\u5c06\u6bd4\u4f8b\u3001\u5fae\u5206\u3001\u79ef\u5206\u4e09\u4e2a\u73af\u8282\u8054\u5408\u4f7f\u7528\u7684\u7b97\u6cd5\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"168\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-29-1024x168.png\" alt=\"\" class=\"wp-image-558\" style=\"width:488px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-29-1024x168.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-29-300x49.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-29-768x126.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-29.png 1384w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<h1 class=\"wp-block-heading\">7.2 \u667a\u80fd\u63a7\u5236\u7cfb\u7edf<\/h1>\n\n\n\n<h2 class=\"wp-block-heading\">7.2.1 \u7cfb\u7edf\u8fa8\u8bc6\uff08\u5efa\u6a21\uff09<\/h2>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"247\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-28-1024x247.png\" alt=\"\" class=\"wp-image-557\" style=\"width:359px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-28-1024x247.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-28-300x72.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-28-768x185.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-28.png 1057w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<p>\u518d\u6b21\u56de\u5230\u8fd9\u4e2a\u63a7\u5236\u7cfb\u7edf\u57fa\u672c\u7ed3\u6784\u3002\u5982\u56fe\u6240\u793a\uff0c\u6211\u4eec\u6700\u91cd\u8981\u63a7\u5236\u7684\u662f\u8ba9\u88ab\u63a7\u5bf9\u8c61\u5904\u4e8e\u6211\u4eec\u5e0c\u671b\u7684\u72b6\u6001\u4e0a\u3002\u4e5f\u5c31\u662f\u6211\u4eec\u7ed9\u88ab\u63a7\u5bf9\u8c61\u4e00\u4e2a\u8f93\u5165\uff08\u63a7\u5236\u91cf\uff09\uff0c\u5b83\u4f1a\u6709\u4e00\u4e2a\u8f93\u51fa\uff08\u72b6\u6001\uff09\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"502\" height=\"190\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-27.png\" alt=\"\" class=\"wp-image-556\" style=\"width:248px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-27.png 502w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-27-300x114.png 300w\" sizes=\"auto, (max-width: 502px) 100vw, 502px\" \/><\/figure>\n<\/div>\n\n\n<p>\u56e0\u6b64\uff0c\u662f\u5426\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e2a\u6570\u5b66\u5173\u7cfb\u8868\u8ff0\u51fa\u63a7\u5236\u91cf\u4e0e\u88ab\u63a7\u5bf9\u8c61\u72b6\u6001\u4e4b\u95f4\u7684\u5173\u7cfb\uff1f<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-26.png\" alt=\"\" class=\"wp-image-555\" style=\"width:462px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-26.png 800w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-26-300x300.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-26-150x150.png 150w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-26-768x768.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-26-100x100.png 100w\" sizes=\"auto, (max-width: 800px) 100vw, 800px\" \/><\/figure>\n<\/div>\n\n\n<p>\u4f8b\u5982\u7406\u60f3\u72b6\u6001\u4e0b\uff0c\u4e00\u4e2a\u81ea\u884c\u8f66\u7684\u540e\u8f6e\u8f6c\u901f\u53ef\u4ee5\u7531y=f(x)=kx\u8868\u793a\u3002\u5176\u4e2dk\u4e3a\u811a\u8e0f\u677f\u9f7f\u8f6e\u4e0e\u540e\u8f6e\u7684\u9f7f\u6bd4\uff1bx\u4e3a\u811a\u8e0f\u677f\u8f93\u5165\u7684\u8f6c\u901f\u3002\u5982\u679c\u6211\u4eec\u60f3\u8ba9\u540e\u8f6e\u8f6c\u901f\u5904\u4e8ey1\u72b6\u6001\u4e0b\uff0c\u5219\u53ef\u6c42f(x)\u7684\u9006\u51fd\u6570g(x)\u6c42\u5f97\u5bf9\u5e94\u7684x1\u3002\u90a3\u4e48\u8fd9\u4e2a\u9006\u51fd\u6570\u5c31\u662f\u6211\u4eec\u8bbe\u8ba1\u63a7\u5236\u89c4\u5f8b\u7684\u4f9d\u636e\u3002\u663e\u7136\u8fd9\u662f\u4e00\u4e2a\u975e\u5e38\u7b80\u5355\u7684\u7cfb\u7edf\uff0c\u56e0\u4e3a\u6211\u4eec\u5ffd\u7565\u4e86\u5f88\u591a\u4e1c\u897f\uff08\u4f8b\u5982\u6469\u64e6\u3001\u60ef\u6027\u7b49\uff09\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u66f4\u52a0\u590d\u6742\u7684\u7cfb\u7edf\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u5176\u4ed6\u65b9\u6cd5\u5efa\u7acb\u8d77\u4e00\u4e2a\u6570\u5b66\u6a21\u578b\uff0c\u8fd9\u4e2a\u8fc7\u7a0b\u88ab\u79f0\u4e3a<strong>\u7cfb\u7edf\u8fa8\u8bc6\uff08\u7cfb\u7edf\u5efa\u6a21\uff09<\/strong>\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">7.2.2 \u667a\u80fd \u7cfb\u7edf\u8fa8\u8bc6\uff08\u5efa\u6a21\uff09<\/h2>\n\n\n\n<p>\u7136\u800c\u5bf9\u4e8e\u4e00\u4e9b\u975e\u5e38\u590d\u6742\u7684\u7cfb\u7edf\uff0c\u6211\u4eec\u5f88\u96be\u901a\u8fc7\u6570\u5b66\u65b9\u5f0f\u5efa\u7acb\u8d77\u663e\u6027\u7684\u6570\u5b66\u6a21\u578b\u3002\u800c\u4f20\u7edf\u7684\u63a7\u5236\u7406\u8bba\uff08\u7ecf\u5178\u63a7\u5236\u7406\u8bba\u3001\u73b0\u4ee3\u63a7\u5236\u7406\u8bba\uff09\u4f9d\u8d56\u88ab\u63a7\u5bf9\u8c61\u7684\u7cbe\u786e\u6570\u5b66\u6a21\u578b\u8bbe\u8ba1\u63a7\u5236\u89c4\u5f8b\u3002\u6b64\u65f6\u6211\u4eec\u53ef\u4ee5\u57fa\u4e8e\u667a\u80fd\u63a7\u5236\u7406\u8bba\u8bbe\u8ba1\u63a7\u5236\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p>\u7531\u4e8e\u590d\u6742\u88ab\u63a7\u5bf9\u8c61\u7684\u9006\u51fd\u6570g(x)\u96be\u4ee5\u5efa\u7acb\uff0c\u4f46\u662f\u6211\u4eec\u53ef\u4ee5\u9700\u6c42\u4e00\u4e2a\u7b49\u4ef7\u6a21\u578b\u6765\u4ee3\u66ff\u3002\u5bf9\u4e8e\u8fd9\u6837\u7684\u88ab\u63a7\u5bf9\u8c61\uff0c\u6211\u4eec\u4e0d\u518d\u5bfb\u6c42\u5efa\u7acb\u5176\u5185\u90e8\u673a\u7406\u800c\u662f\u5c06\u5176\u89c6\u4e3a\u4e00\u4e2a\u201d<strong>\u9ed1\u7bb1<\/strong>\u201c\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u89c2\u6d4b\u8bd5\u9a8c\uff0c\u5efa\u7acb\u8d77\u5927\u91cf\u8f93\u5165\u4e0e\u8f93\u51fa\u4e4b\u95f4\u7684<strong>\u65f6\u5e8f\u6570\u636e\u5e8f\u5217<\/strong>\u3002\u5229\u7528\u795e\u7ecf\u7f51\u7edc\u5177\u6709\u903c\u8fd1\u975e\u7ebf\u6027\u51fd\u6570\u7684\u80fd\u529b\u6765\u6a21\u62df g(\u00b7)\u3002\u5c3d\u7ba1 g(\u00b7)\u7684\u5f62\u5f0f\u672a\u77e5,\u4f46\u6839\u636e\u7cfb\u7edf\u7684\u5b9e\u9645\u8f93\u51fa y \u4e0e\u671f\u671b\u8f93\u51fa\ud835\udc9a\ud835\udc85 \u4e4b\u95f4\u7684\u8bef\u5dee,\u901a\u8fc7\u795e\u7ecf\u7f51\u7edc\u5b66\u4e60\u7b97\u6cd5\u8c03\u6574\u795e\u7ecf\u7f51\u7ec8\u8054\u7ed3\u6743\u91cd\u76f4\u81f3\u8bef\u5dee\u8d8b\u8fd1\u4e8e0\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"525\" height=\"336\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-25.png\" alt=\"\" class=\"wp-image-554\" style=\"width:370px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-25.png 525w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-25-300x192.png 300w\" sizes=\"auto, (max-width: 525px) 100vw, 525px\" \/><\/figure>\n<\/div>\n\n\n<p>\u8fd9\u6837\u7684\u8fc7\u7a0b\u5c31\u662f\u795e\u7ecf\u7f51\u7edc\u903c\u8fd1\u9006\u51fd\u6570\u7684\u8fc7\u7a0b,\u5b9e\u9645\u4e0a\u662f\u5bf9\u88ab\u63a7\u5bf9\u8c61\u7684\u4e00\u79cd\u6c42\u9006\u8fc7\u7a0b\u3002\u7531\u795e\u7ecf\u7f51\u7edc\u7684\u5b66\u4e60\u7b97\u6cd5\u5b9e\u73b0\u903c\u8fd1\u88ab\u63a7\u5bf9\u8c61\u9006\u6a21\u578b\u7684\u8fc7\u7a0b,\u5c31\u662f\u795e\u7ecf\u7f51\u7edc\u5b9e\u73b0\u76f4\u63a5\u63a7\u5236\u7684\u57fa\u672c\u601d\u60f3\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">7.3 \u5206\u7ea7\u63a7\u5236<\/h1>\n\n\n\n<p>\u5bf9\u4e8e\u5927\u7cfb\u7edf\u800c\u8a00\uff0c\u7531\u4e8e\u7cfb\u7edf\u5185\u90e8\u590d\u6742\uff0c\u4e14\u5b50\u7cfb\u7edf\u4f17\u591a\uff0c\u4e00\u822c\u91c7\u7528\u5206\u7ea7\u63a7\u5236\u7684\u7ed3\u6784\u3002\u8fd8\u662f\u4ee5\u4eba\u4f53\u4e3a\u4f8b\uff0c\u4eba\u7684\u795e\u7ecf\u7cfb\u7edf\u4e2d\u6709\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e0b\u4e18\u8111\uff1a\u6709\u4f53\u6e29\/\u6c34\u5e73\u8861\u7684\u8c03\u8282\u4e2d\u67a2\uff0c\u8fd8\u4e0e\u751f\u7269\u8282\u5f8b\u6709\u5173<\/li>\n\n\n\n<li>\u8111\u5e72\uff1a\u6709\u8bb8\u591a\u7ef4\u6301\u751f\u547d\u7684\u4e2d\u67a2\uff0c\u5982\u547c\u5438\u4e2d\u67a2<\/li>\n\n\n\n<li>\u5927\u8111\u76ae\u5c42\uff1a\u8c03\u8282\u673a\u4f53\u6d3b\u52a8\u7684\u6700\u9ad8\u7ea7\u4e2d\u67a2\u3002\u4f8b\u5982\uff1a\u2460\u5bf9\u5916\u90e8\u4e16\u754c\u7684\u611f\u77e5\u2461\u63a7\u5236\u673a\u4f53\u7684\u53cd\u5c04\u6d3b\u52a8\u2462\u8a00\u8bed\u3001\u5b66\u4e60\u3001\u8bb0\u5fc6\u548c\u601d\u7ef4\u7b49\u65b9\u9762\u7684\u9ad8\u7ea7\u529f\u80fd<\/li>\n\n\n\n<li>\u5c0f\u8111\uff1a\u6709\u7ef4\u6301\u8eab\u4f53\u5e73\u8861\u7684\u4e2d\u67a2<\/li>\n\n\n\n<li>\u810a\u9ad3\uff1a\u8c03\u8282\u8eaf\u4f53\u8fd0\u52a8\u7684\u4f4e\u7ea7\u4e2d\u67a2<\/li>\n<\/ul>\n\n\n\n<p>\u5b83\u4eec\u5404\u53f8\u5176\u804c\u5206\u522b\u7ba1\u7406\u4e0d\u540c\u7684\u5b50\u7cfb\u7edf\uff0c\u540c\u65f6\u4e5f\u6709\u76f8\u4e92\u914d\u5408\u3002\u4f8b\u5982\uff0c\u5f53\u6211\u4eec\u8981\u8d70\u8def\u53bb\u4e00\u4e2a\u5730\u65b9\u65f6\uff0c\u7531\u5927\u8111\u76ae\u5c42\u89c4\u5212\u8def\u7ebf\u8fdb\u884c\u51b3\u7b56\uff0c\u7531\u810a\u9ad3\u8c03\u8282\u80a2\u4f53\u7684\u5177\u4f53\u8fd0\u52a8\u3002<\/p>\n\n\n\n<p>\u4eba\u7684\u4e2d\u67a2\u795e\u7ecf\u7cfb\u7edf\u662f\u6309\u591a\u7ea7\u9012\u9636\u7ed3\u6784\u7ec4\u7ec7\u8d77\u6765\u7684\uff0c\u56e0\u6b64\uff0c\u591a\u7ea7\u9012\u9636\u7684\u63a7\u5236\u7ed3\u6784\u5df2\u6210\u4e3a\u667a\u80fd\u63a7\u5236\u7684\u4e00\u79cd\u5178\u578b\u7ed3\u6784\u3002\u591a\u7ea7\u9012\u9636\u667a\u80fd\u63a7\u5236\u7684\u7ed3\u6784\u5982\u56fe\u6240\u793a\uff0c\u6309\u667a\u80fd\u7a0b\u5ea6\u7684\u9ad8\u4f4e\u5206\u4e3a\u7ec4\u7ec7\u7ea7\u3001\u534f\u8c03\u7ea7\u548c\u63a7\u5236\u7ea73\u7ea7\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"991\" height=\"698\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-24.png\" alt=\"\" class=\"wp-image-553\" style=\"width:486px;height:auto\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-24.png 991w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-24-300x211.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-24-768x541.png 768w\" sizes=\"auto, (max-width: 991px) 100vw, 991px\" \/><\/figure>\n<\/div>\n\n\n<p>(1)\u7ec4\u7ec7\u7ea7<\/p>\n\n\n\n<p>\u7ec4\u7ec7\u7ea7\u662f\u9012\u9636\u667a\u80fd\u63a7\u5236\u7cfb\u7edf\u7684\u6700\u9ad8\u7ea7\uff0c\u662f\u667a\u80fd\u7cfb\u7edf\u7684\u201c\u5927\u8111\u201d,\u5b83\u5177\u6709\u76f8\u5e94\u7684\u5b66\u4e60\u80fd\u529b\u548c\u51b3\u7b56\u80fd\u529b\uff0c\u5bf9\u4e00\u7cfb\u5217\u968f\u673a\u8f93\u5165\u7684\u8bed\u53e5\u80fd\u591f\u8fdb\u884c\u5206\u6790\uff0c\u80fd\u8fa8\u522b\u63a7\u5236\u60c5\u51b5\u4ee5\u53ca\u5728\u5927\u81f4\u4e86\u89e3\u4efb\u52a1\u6267\u884c\u7ec6\u8282\u7684\u60c5\u51b5\u4e0b\uff0c\u7ec4\u7ec7\u4efb\u52a1\uff0c\u63d0\u51fa\u9002\u5f53\u7684\u63a7\u5236\u6a21\u5f0f\u3002<\/p>\n\n\n\n<p>(2)\u534f\u8c03\u7ea7<\/p>\n\n\n\n<p>\u534f\u8c03\u7ea7\u662f\u9012\u9636\u667a\u80fd\u63a7\u5236\u7cfb\u7edf\u7684\u6b21\u9ad8\u7ea7\uff0c\u5b83\u7684\u4e3b\u8981\u4efb\u52a1\u662f\u534f\u8c03\u5404\u63a7\u5236\u5668\u7684\u63a7\u5236\u4f5c\u7528\uff0c\u6216\u8005\u534f\u8c03\u5404\u5b50\u4efb\u52a1\u7684\u6267\u884c\u3002\u8fd9\u4e00\u7ea7\u53ea\u8981\u6c42\u8f83\u4f4e\u7684\u8fd0\u7b97\u7cbe\u5ea6\uff0c\u4f46\u8981\u6709\u8f83\u9ad8\u7684\u51b3\u7b56\u80fd\u529b\uff0c\u751a\u81f3\u5177\u6709\u4e00\u5b9a\u7684\u5b66\u4e60\u80fd\u529b\u3002<\/p>\n\n\n\n<p>(3)\u63a7\u5236\u7ea7<\/p>\n\n\n\n<p>\u63a7\u5236\u7ea7\u662f\u7cfb\u7edf\u7684\u6700\u4f4e\u7ea7\uff0c\u5b83\u76f4\u63a5\u63a7\u5236\u5c40\u90e8\u8fc7\u7a0b\u5e76\u5b8c\u6210\u5b50\u4efb\u52a1\u3002\u63a7\u5236\u7ea7\u548c\u534f\u8c03\u7ea7\u76f8\u53cd\uff0c\u8fd9\u4e00\u7ea7\u5fc5\u987b\u9ad8\u7cbe\u5ea6\u5730\u6267\u884c\u5c40\u90e8\u4efb\u52a1\uff0c\u800c\u4e0d\u8981\u6c42\u5177\u6709\u66f4\u591a\u667a\u80fd\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u6700\u540e\u8981\u505a\u7684\u667a\u80fd\u5c0f\u8f66\u5c31\u662f\u57fa\u4e8e\u5206\u7ea7\u7ed3\u6784\u8bbe\u8ba1\u7684\u3002\u5176\u4e2d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u65b9\u5411\u63a7\u5236\u7b97\u6cd5\u8fd0\u884c\u5728\u7535\u8111\u4e0a\uff0c\u901a\u8fc7\u590d\u6742\u7684\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\u51b3\u7b56\u5c0f\u8f66\u7684\u524d\u8fdb\u65b9\u5411\u3002<\/li>\n\n\n\n<li>\u8f6e\u901f\u63a7\u5236\u7b97\u6cd5\u8fd0\u884c\u5728ESP32\u4e0a\uff0c\u901a\u8fc7\u7b80\u5355\u7684PID\u7b97\u6cd5\u5b9e\u73b0\u3002<\/li>\n<\/ul>\n\n\n\n<h1 class=\"wp-block-heading\">7.4 \u6a21\u62df\u5e73\u53f0\u5b89\u88c5\u548c\u57fa\u672c\u4f7f\u7528<\/h1>\n\n\n\n<p>\u4e0b\u8f7d\u5730\u5740\uff1a<a href=\"https:\/\/github.com\/tawnkramer\/gym-donkeycar\/releases\">Releases \u00b7 tawnkramer\/gym-donkeycar \u00b7 GitHub<\/a><\/p>\n\n\n\n<p>\u8be5\u5730\u5740\u4e2d\u63d0\u4f9b\u7684\u6a21\u62df\u5668\u662f\u57fa\u4e8eUnity\u5f00\u53d1\u7684\uff0c\u662f\u7ecf\u8fc7\u5220\u51cf\u8fc7\u540e\u7684\u53ef\u6267\u884c\u7a0b\u5e8f\uff0c\u4e0d\u518d\u9700\u8981\u989d\u5916\u5b89\u88c5unity\uff0c\u4e0b\u8f7d\u4e0b\u6765\u540e\u5c31\u53ef\u4ee5\u76f4\u63a5\u8fd0\u884c\u3002\u76ee\u524d\u8986\u76d6windows\u3001Linux\u3001Mac\u51713\u4e2a\u7248\u672c\u3002\u672c\u6587\u4e3a\u4e86\u7b80\u5355\u6559\u5b66\uff0c\u53ea\u8bb2\u89e3\u5982\u4f55\u5728windows\u5e73\u53f0\u4e0a\u8fd0\u884c\u548c\u4f7f\u7528\u8be5\u6a21\u62df\u5668\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u7684\uff0c\u4e0b\u8f7dWindows\u5e73\u53f0\u5bf9\u5e94\u7684DonkeySimWin.zip\u538b\u7f29\u5305,\u89e3\u538b\u540e\u5185\u5bb9\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"267\" height=\"151\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-23.png\" alt=\"\" class=\"wp-image-552\"\/><\/figure>\n<\/div>\n\n\n<p>\u53cc\u51fb\u8fd0\u884c\u5176\u4e2d\u7684donkey_sim.exe\u5373\u53ef\u542f\u52a8\u6a21\u62df\u5668\u3002<\/p>\n\n\n\n<p>\u4e3b\u754c\u9762\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"556\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-22-1024x556.png\" alt=\"\" class=\"wp-image-551\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-22-1024x556.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-22-300x163.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-22-768x417.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-22-1536x834.png 1536w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-22.png 1920w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<p>\u8be5\u6a21\u62df\u5668\u4e2d\u63d0\u4f9b\u4e86\u5f88\u591a\u4e0d\u540c\u7684\u8d5b\u9053\uff0c\u5728\u6a21\u62df\u5668\u5de6\u4fa7\u662f\u76f8\u5173\u8bbe\u7f6e\uff0c\u53ef\u4ee5\u8bbe\u7f6e\u4e0d\u540c\u7684\u89c6\u89d2\u7b49\u3002\u8fd9\u91cc\u6211\u4eec\u9009\u62e9\u6700\u7b80\u5355\u7684\u8d5b\u9053generated road\uff0c\u56e0\u4e3a\u8fd9\u4e2a\u8d5b\u9053\u6ca1\u6709\u969c\u788d\u7269\u4e14\u8ddf\u6211\u4eec\u771f\u5b9e\u9ad8\u901f\u516c\u8def\u73af\u5883\u6bd4\u8f83\u50cf\uff0c\u4e0a\u624b\u6bd4\u8f83\u5bb9\u6613\u3002\u6211\u4eec\u5148\u8bbe\u7f6e\u5de6\u4fa7\u7684Settings\u5982\u4e0b\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"433\" height=\"504\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-21.png\" alt=\"\" class=\"wp-image-550\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-21.png 433w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-21-258x300.png 258w\" sizes=\"auto, (max-width: 433px) 100vw, 433px\" \/><\/figure>\n<\/div>\n\n\n<p>\u6ce8\u610f\u6211\u4eec\u8bbe\u7f6e\u4e86paceCar\u5e76\u4e14\u52fe\u9009\u4e86manualDriving\uff0c\u8fd9\u6837\u6211\u4eec\u5c31\u53ef\u4ee5\u81ea\u5df1\u624b\u52a8\u64cd\u4f5c\u5c0f\u8f66\u4e86\uff0c\u4e0d\u9700\u8981\u4f7f\u7528\u5185\u7f6e\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u5f0f\u3002<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\u5355\u51fbgenerated road\uff0c\u8fdb\u5165\u5177\u4f53\u7684\u573a\u666f\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"556\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-20-1024x556.png\" alt=\"\" class=\"wp-image-549\" srcset=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-20-1024x556.png 1024w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-20-300x163.png 300w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-20-768x417.png 768w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-20-1536x834.png 1536w, https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-20.png 1920w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n<p>\u5728\u573a\u666f\u4e2d\uff0c\u5982\u679c\u6211\u4eec\u524d\u9762\u4e3b\u754c\u9762\u4f7f\u7528\u4e86\u624b\u5de5\u6a21\u5f0f\uff08paceCar\u5904\u52fe\u9009manualDriving\uff09\uff0c\u90a3\u4e48\u6211\u4eec\u5c31\u53ef\u4ee5\u901a\u8fc7\u952e\u76d8\u6765\u64cd\u63a7\u5c0f\u8f66\u8fdb\u884c\u4f53\u9a8c\u4e86\u3002\u4e0e\u4e00\u822c\u7684\u8d5b\u8f66\u6e38\u620f\u7c7b\u4f3c\uff08qq\u98de\u8f66\u3001\u8dd1\u8dd1\u5361\u4e01\u8f66\u7b49\uff09\uff0cW\u952e\u8868\u793a\u524d\u8fdb\uff0cA\u8868\u793a\u5de6\u8f6c\uff0cD\u8868\u793a\u53f3\u8f6c\uff0cS\u8868\u793a\u540e\u9000\u3002<\/p>\n\n\n\n<p>\u5728\u8be5\u6a21\u62df\u5668\u4e2d\uff0c\u63a7\u5236\u5c0f\u8f66\u7684\u4e3b\u8981\u662f\u4e24\u4e2a\u53c2\u6570\uff1a\u6cb9\u95e8\uff08W\u548cS\u952e\uff09\u548c\u8f6c\u5411\u89d2\u5ea6\uff08A\u548cD\u952e\uff09\uff0c\u8fd9\u4e2a\u4e0e\u6211\u4eec\u771f\u5b9e\u9a7e\u9a76\u7684\u6c7d\u8f66\u57fa\u672c\u4e00\u81f4\uff1a\u6302\u6321+\u8e29\u6cb9\u95e8\u6765\u63a7\u5236\u524d\u8fdb\u52a8\u529b\uff0c\u6253\u65b9\u5411\u76d8\u63a7\u5236\u8f66\u8f86\u8f6c\u5411\u3002\u4e3a\u4e86\u80fd\u591f\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\uff0c\u6211\u4eec\u9996\u5148\u8981\u80fd\u591f\u6839\u636e\u8fd9\u4e24\u4e2a\u53c2\u6570\u53bb\u63a7\u5236\u6a21\u62df\u5668\u91cc\u9762\u5c0f\u8f66\u7684\u8fd0\u884c\u3002\u6211\u4eec\u600e\u4e48\u6837\u901a\u8fc7Python\u4ee3\u7801\u6765\u63a7\u5236\u8fd9\u4e2a\u6a21\u62df\u5668\u5462\uff1f<\/p>\n\n\n\n<p>\u8fd9\u4e2a\u6a21\u62df\u5668\u7684\u597d\u5904\u5c31\u5728\u4e8e\u9884\u7559\u4e86Python\u63a7\u5236\u63a5\u53e3\uff0c\u6211\u4eec\u53ea\u9700\u8981\u5b89\u88c5\u4e00\u4e2a\u9a71\u52a8\u5e93\u5c31\u53ef\u4ee5\u76f4\u63a5\u9a71\u52a8\u6a21\u62df\u5668\u91cc\u9762\u7684\u5c0f\u8f66\u8fd0\u884c\uff08\u63d0\u524d\u5b89\u88c5\u597dGit\u5de5\u5177\uff09\uff1a<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"bash\" data-enlighter-theme=\"atomic\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">pip install git+https:\/\/github.com\/tawnkramer\/gym-donkeycar<\/pre>\n\n\n\n<p>\u5b89\u88c5\u597d\u4ee5\u540e\u6211\u4eec\u53ef\u4ee5\u8fd0\u884c\u4e0b\u9762\u7684python\u4ee3\u7801\u6765\u5b9e\u73b0\u5c0f\u8f66\u7684\u63a7\u5236\uff08\u6ce8\u610f\uff1a\u8fd0\u884c\u4e0b\u9762\u7684\u4ee3\u7801\u524d\u5148\u542f\u52a8\u6a21\u62df\u5668\uff0c\u5e76\u505c\u7559\u5728\u6a21\u62df\u5668\u4e3b\u754c\u9762\u4e0a\uff09\uff1a<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"python\" data-enlighter-theme=\"atomic\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"># \u5bfc\u5165\u5e93\nimport gym\nimport gym_donkeycar\nimport numpy as np\nimport cv2\n \n \n# \u8bbe\u7f6e\u6a21\u62df\u5668\u73af\u5883\nenv = gym.make(\"donkey-generated-roads-v0\")\n \n# \u91cd\u7f6e\u5f53\u524d\u573a\u666f\nobv = env.reset()\n \n# \u8fd0\u884c100\u5e27\nfor t in range(100):\n    # \u5b9a\u4e49\u63a7\u5236\u52a8\u4f5c\n    action = np.array([0.3,0.5]) # \u52a8\u4f5c\u63a7\u5236\uff0c0.3\u8868\u793a\u8f6c\u5411\uff0c0.5\u8868\u793a\u6cb9\u95e8\n    # \u6267\u884c\u52a8\u4f5c\n    obv, reward, done, info = env.step(action)\n    # \u53d6\u4e00\u5f20\u56fe\u50cf\u4fdd\u5b58\n    if t == 20:\n        img = cv2.cvtColor(obv,cv2.COLOR_RGB2BGR)\n        cv2.imwrite('test.jpg',img)\n \n# \u8fd0\u884c\u5b8c\u4ee5\u540e\u91cd\u7f6e\u5f53\u524d\u573a\u666f\nobv = env.reset()<\/pre>\n\n\n\n<p>\u6211\u4eec\u5148\u5206\u6790\u4e0b\u8fd9\u6bb5\u4ee3\u7801\u3002\u4e0b\u9762\u8fd9\u884c\u4ee3\u7801\u7528\u4e8e\u8bbe\u7f6e\u6a21\u62df\u5668\u73af\u5883\uff0c\u7b80\u5355\u6765\u8bf4\u5c31\u662f\u542f\u7528\u54ea\u5f20\u5730\u56fe\uff1a<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"python\" data-enlighter-theme=\"atomic\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">env = gym.make(\"donkey-generated-roads-v0\")<\/pre>\n\n\n\n<p>\u5728\u8fd9\u4e2a\u6a21\u62df\u5668\u91cc\u9762\u6211\u4eec\u53ef\u4ee5\u7528\u5230\u7684\u5730\u56fe\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"python\" data-enlighter-theme=\"atomic\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">\"donkey-warehouse-v0\"\n\"donkey-generated-roads-v0\"\n\"donkey-avc-sparkfun-v0\"\n\"donkey-generated-track-v0\"\n\"donkey-roboracingleague-track-v0\"\n\"donkey-waveshare-v0\"\n\"donkey-minimonaco-track-v0\"\n\"donkey-warren-track-v0\"\n\"donkey-thunderhill-track-v0\"\n\"donkey-circuit-launch-track-v0\"<\/pre>\n\n\n\n<p>\u63a5\u4e0b\u6765\u7684\u4ee3\u7801\u91cc\u9762\uff0c\u6211\u4eec\u8fd0\u884c\u4e86100\u5e27\uff0c\u6bcf\u5e27\u90fd\u7528\u56fa\u5b9a\u7684\u63a7\u5236\u53c2\u6570\u6765\u6267\u884c\uff1a\u53f3\u8f6c0.3\u3001\u524d\u8fdb0.5\u3002\u8fd9\u4e24\u4e2a\u5b57\u6bb5\u5c31\u662f\u6211\u4eec\u524d\u9762\u63d0\u5230\u7684\u8f6c\u5411\u548c\u6cb9\u95e8\u503c\u3002\u4e0b\u9762\u7ed9\u51fa\u8fd9\u4e24\u4e2a\u503c\u7684\u5177\u4f53\u5b9a\u4e49\uff1a<\/p>\n\n\n\n<p>\u6cb9\u95e8\u503c\u53d6\u503c\u8303\u56f4\u662f[-1\uff0c1]\uff0c\u8d1f\u503c\u4ee3\u8868\u5012\u9000\uff0c\u6b63\u503c\u4ee3\u8868\u524d\u8fdb\u3002\u8f6c\u5411\u503c\u53d6\u503c\u8303\u56f4\u4e5f\u662f[-1\uff0c1]\uff0c\u8d1f\u503c\u4ee3\u8868\u5411\u5de6\uff0c\u6b63\u503c\u4ee3\u8868\u5411\u53f3\u3002<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\u4f7f\u7528np.array\u5c01\u88c5\u8fd9\u4e24\u4e2a\u53c2\u6570\uff0c\u7136\u540e\u901a\u8fc7env.step\u6765\u6267\u884c\u5355\u6b65\u52a8\u4f5c\u3002\u6267\u884c\u5b8c\u52a8\u4f5c\u4ee5\u540e\u4f1a\u8fd4\u56de\u4e00\u4e9b\u4fe1\u606f\uff0c\u5176\u4e2d\u6211\u4eec\u9700\u8981\u91cd\u70b9\u5173\u6ce8obs\u8fd9\u4e2a\u8fd4\u56de\u53c2\u6570\uff0c\u8fd9\u4e2a\u53c2\u6570\u8868\u793a\u5f53\u524d\u4f4d\u4e8e\u5c0f\u8f66\u6b63\u4e2d\u95f4\u884c\u8f66\u8bb0\u5f55\u4eea\u6444\u50cf\u5934\u8fd4\u56de\u7684\u4e00\u5e27\u56fe\u50cf \uff0c\u56fe\u50cf\u5bbd160\u50cf\u7d20\uff0c\u9ad8120\u50cf\u7d20\uff0c3\u901a\u9053RGB\u56fe\u50cf\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff1a<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"160\" height=\"120\" src=\"https:\/\/aimc.skyate.com\/wp-content\/uploads\/2025\/01\/image-19.png\" alt=\"\" class=\"wp-image-548\"\/><\/figure>\n<\/div>\n\n\n<p>\u7531\u4e8e\u672c\u6587\u4e3b\u8981\u4f7f\u7528\u6444\u50cf\u5934\u56fe\u50cf\u6570\u636e\u6765\u63a7\u5236\u5c0f\u8f66\u8fd0\u884c\uff0c\u56e0\u6b64\u4e0a\u8ff0\u4ee3\u7801\u4e2d\u6211\u4eec\u62bd\u53d6\u4e86\u4e00\u5f20\u56fe\u50cf\u5e76\u4fdd\u5b58\u5230\u672c\u5730\u7528\u6765\u5206\u6790\u5e76\u6d4b\u8bd5\u7b97\u6cd5\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8ff0\u4ee3\u7801\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u4f7f\u7528python\u8c03\u6574\u4e24\u4e2a\u53c2\u6570[\u6cb9\u95e8\u503c\u3001\u8f6c\u5411\u503c]\u6765\u63a7\u5236\u5c0f\u8f66\u7684\u8fd0\u884c\uff0c\u5e76\u4e14\u53ef\u4ee5\u5f97\u5230\u5c0f\u8f66\u6bcf\u6b21\u8fd0\u884c\u540e\u7684\u56fe\u50cf\u6570\u636e\u3002\u5b9e\u73b0\u4e86\u8fd9\u6837\u4e00\u4e2a\u903b\u8f91\uff0c\u6211\u4eec\u81ea\u7136\u5c31\u53ef\u4ee5\u901a\u8fc7\u5efa\u7acb\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\uff0c\u9010\u5e27\u5206\u6790\u56fe\u50cf\uff0c\u7136\u540e\u63a7\u5236\u5c0f\u8f66\u7684\u8fd9\u4e24\u4e2a\u53c2\u6570\u6765\u5b9e\u73b0\u5c0f\u8f66\u7684\u81ea\u52a8\u9a7e\u9a76\u3002<\/p>\n\n\n\n<p>\u672c\u5c0f\u8282\u5185\u5bb9\u91cd\u70b9\u4f7f\u8bfb\u8005\u91cd\u65b0\u719f\u6089\u4e0bpython\u57fa\u672c\u4f7f\u7528\u65b9\u6cd5\uff0c\u540c\u65f6\u719f\u6089\u4e0b\u8fd9\u4e2a\u5c0f\u8f66\u9a7e\u9a76\u6a21\u62df\u5668\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u5c06\u6b63\u5f0f\u8fdb\u5165\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u7814\u53d1\u73af\u8282\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u3010\u6982\u8ff0\u30110 \u4ec0\u4e48\u662f\u667a\u80fd\u7cfb\u7edf \u3010\u9636\u6bb5\u4e00\u30111 PlatformIO\u73af\u5883\u914d\u7f6e\u548cGPIO \u3010\u9636\u6bb5\u4e00\u30112 PWM\u4e0e\u7535\u673a\u63a7 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":566,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[56],"tags":[],"class_list":["post-547","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-56"],"_links":{"self":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/547","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/comments?post=547"}],"version-history":[{"count":9,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/547\/revisions"}],"predecessor-version":[{"id":674,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/547\/revisions\/674"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/media\/566"}],"wp:attachment":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/media?parent=547"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/categories?post=547"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/tags?post=547"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}