{"id":81,"date":"2026-08-18T10:58:52","date_gmt":"2026-08-18T02:58:52","guid":{"rendered":"https:\/\/www.deartester.com\/index.php\/2026\/08\/18\/%e8%bd%a6%e8%81%94%e7%bd%91%e4%b8%80%e4%bd%93%e5%8c%96%e6%b5%8b%e8%af%95%ef%bc%9a%e5%b9%b3%e5%8f%b0%e4%b8%8e%e6%99%ba%e8%83%bd%e7%bd%91%e8%81%94%e6%b1%bd%e8%bd%a6%e7%9a%84%e7%ab%af%e5%88%b0%e7%ab%af\/"},"modified":"2026-09-03T23:17:12","modified_gmt":"2026-09-03T15:17:12","slug":"%e8%bd%a6%e8%81%94%e7%bd%91%e4%b8%80%e4%bd%93%e5%8c%96%e6%b5%8b%e8%af%95%ef%bc%9a%e5%b9%b3%e5%8f%b0%e4%b8%8e%e6%99%ba%e8%83%bd%e7%bd%91%e8%81%94%e6%b1%bd%e8%bd%a6%e7%9a%84%e7%ab%af%e5%88%b0%e7%ab%af","status":"publish","type":"post","link":"https:\/\/www.deartester.com\/index.php\/2026\/08\/18\/%e8%bd%a6%e8%81%94%e7%bd%91%e4%b8%80%e4%bd%93%e5%8c%96%e6%b5%8b%e8%af%95%ef%bc%9a%e5%b9%b3%e5%8f%b0%e4%b8%8e%e6%99%ba%e8%83%bd%e7%bd%91%e8%81%94%e6%b1%bd%e8%bd%a6%e7%9a%84%e7%ab%af%e5%88%b0%e7%ab%af\/","title":{"rendered":"\u8f66\u8054\u7f51\u4e00\u4f53\u5316\u6d4b\u8bd5\uff1a\u5e73\u53f0\u4e0e\u667a\u80fd\u7f51\u8054\u6c7d\u8f66\u7684\u7aef\u5230\u7aef\u534f\u540c\u9a8c\u8bc1\u5206\u4eab"},"content":{"rendered":"

\u5f15\u8a00\uff1a2026\u5e74\uff0c\u57ce\u5e02NOA\u548cV2X\u4e00\u8d77\u5377\u8d77\u6765\u4e86<\/span><\/h2>\n

\u8fc7\u53bb\u4e09\u5e74\uff0c\u6211\u5728\u8f66\u8f7d\u6d4b\u8bd5\u5708\u5b50\u91cc\u804a\u5f97\u6700\u591a\u7684\u8bdd\u9898\u4ece”\u9ad8\u901fNOA\u600e\u4e48\u6d4b”\u6162\u6162\u53d8\u6210\u4e86”\u57ce\u5e02NOA\u7684Corner Case\u600e\u4e48\u6d4b”\u3002\u5230\u4e862026\u5e74\uff0c\u8fd9\u4e2a\u8bdd\u9898\u53c8\u5347\u7ea7\u4e86\uff1a\u5927\u5bb6\u5f00\u59cb\u804a<\/span>\u8f66\u8def\u4e91\u4e00\u4f53\u5316<\/span><\/span><\/strong><\/p>\n

\u5de5\u4fe1\u90e8\u3001\u516c\u5b89\u90e8\u3001\u4ea4\u901a\u8fd0\u8f93\u90e8\u4e09\u90e8\u59d4\u8054\u5408\u53d1\u5e03\u7684\u300a\u667a\u80fd\u7f51\u8054\u6c7d\u8f66\u51c6\u5165\u548c\u4e0a\u8def\u901a\u884c\u8bd5\u70b9\u901a\u77e5\u300b<\/span>\u5df2\u7ecf\u628a\u8f66\u8def\u4e91\u4e00\u4f53\u5316\u5217\u4e3a\u6218\u7565\u65b9\u5411\u3002\u5404\u4e2a\u57ce\u5e02\u5728\u5efa\u7684”\u667a\u6167\u8def\u53e3”\u9879\u76ee\uff0c\u4ece\u5317\u4eac\u3001\u4e0a\u6d77\u3001\u5e7f\u5dde\u4e00\u8def\u94fa\u5230\u4e8c\u7ebf\u57ce\u5e02\uff0c\u5168\u56fd\u52a0\u8d77\u6765\u6709\u5c06\u8fd1200\u4e2a\u8bd5\u70b9\u533a\u57df\u3002\u8fd9\u610f\u5473\u7740\u61c2\u8f66\u8def\u4e91\u6d4b\u8bd5\u7684\u5de5\u7a0b\u5e08\uff0c\u4f1a\u6210\u4e3a\u9999\u997d\u997d<\/span><\/p>\n\n\n\n
\n

\ud83d\udcd8 \u884c\u4e1a\u6570\u636e\uff1a<\/span><\/span><\/strong>2026\u5e74\u4e0a\u534a\u5e74\uff0c\u56fd\u5185\u8f66\u8def\u4e91\u4e00\u4f53\u5316\u9879\u76ee\u62db\u6807\u89c4\u6a21\u8d85\u8fc7300\u4ebf\u5143\uff0c\u5176\u4e2d\u6d4b\u8bd5\u9a8c\u8bc1\u670d\u52a1\u5360\u6bd4\u7ea615%\u3002V2X\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u7684\u5e73\u5747\u85aa\u8d44\u5728\u8fc7\u53bb18\u4e2a\u6708\u91cc\u4e0a\u6da8\u4e86\u7ea640%\uff0c\u5f88\u591a\u8f66\u4f01\u548cTier1\u4f9b\u5e94\u5546\u90fd\u5728\u62a2\u4eba<\/span><\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u6211\u4ece2021\u5e74\u5f00\u59cb\u63a5\u89e6C-V2X\u6d4b\u8bd5\uff0c\u4ece\u6700\u521d\u5728\u5c01\u95ed\u6d4b\u8bd5\u573a\u91cc\u62ff\u7740\u4eea\u5668\u624b\u52a8\u6293\u62a5\u6587\uff0c\u5230\u540e\u6765\u642d\u5efa\u81ea\u52a8\u5316\u4eff\u771f\u73af\u5883\uff0c\u4e00\u6b65\u6b65\u8e29\u5751\u8fc7\u6765<\/span><\/p>\n

\u8fd9\u7bc7\u6587\u7ae0\uff0c\u5c31\u662f\u628a<\/span>\u8f66\u8def\u4e91\u4e00\u4f53\u5316\u6d4b\u8bd5\u7684\u5b8c\u6574\u6280\u672f\u6808<\/span><\/strong>\uff1a\u4ece\u8def\u4fa7\u5355\u5143\uff08RSU\uff09\u5230\u8f66\u8f7dT-Box\uff0c\u4ecePC5\u76f4\u8fde\u901a\u4fe1\u5230Uu\u8702\u7a9d\u94fe\u8def\uff0c\u4ece\u4e91\u63a7\u5e73\u53f0\u7684API\u63a5\u53e3\u5230”\u9b3c\u63a2\u5934”\u573a\u666f\u7684\u7aef\u5230\u7aef\u9a8c\u8bc1\uff0c\u5168\u90e8\u8986\u76d6<\/span>\u3002<\/span><\/span>\u6211\u8fd9\u4e94\u5e74\u79ef\u7d2f\u7684\u5b9e\u64cd\u7ecf\u9a8c\u7cfb\u7edf\u6574\u7406\u51fa\u6765<\/span><\/p>\n

\n

\u4e00\u3001\u8f66\u8def\u4e91\u4e00\u4f53\u5316\u4e09\u5c42\u67b6\u6784\uff1a\u6bcf\u4e00\u5c42\u90fd\u8981\u6d4b\u5230\u4f4d<\/span><\/h2>\n

\u8f66\u8def\u4e91\u4e00\u4f53\u5316\uff0c\u542c\u8d77\u6765\u9ad8\u5927\u4e0a\uff0c\u62c6\u5f00\u6765\u770b\u5176\u5b9e\u5c31\u662f<\/span>\u4e09\u5c42\u7ed3\u6784<\/span><\/strong>\uff1a\u8def\u4fa7\u5c42\u3001\u8fb9\u7f18\u5c42\uff08\u4e5f\u53ebMEC\u5c42\uff09\u3001\u4e91\u63a7\u5e73\u53f0\u5c42\u3002\u6bcf\u4e00\u5c42\u90fd\u6709\u81ea\u5df1\u7684\u804c\u8d23\uff0c\u6bcf\u4e00\u5c42\u4e4b\u95f4\u90fd\u662f\u6d4b\u8bd5\u8981\u91cd\u70b9\u76ef\u4f4f\u7684\u5730\u65b9<\/span><\/p>\n

1.1 \u8def\u4fa7\u5c42\uff1aRSU\u548c\u611f\u77e5\u8bbe\u5907\u7684\u524d\u54e8\u7ad9<\/span><\/span><\/h3>\n

\u8def\u4fa7\u5c42\u7684\u6838\u5fc3\u8bbe\u5907\u662f<\/span>RSU\uff08Road Side Unit\uff0c\u8def\u4fa7\u5355\u5143\uff09<\/span><\/strong>\u3002\u4f60\u53ef\u4ee5\u628a\u5b83\u7406\u89e3\u6210\u8def\u53e3\u7684”\u773c\u775b\u548c\u5634\u5df4”\u2014\u2014\u5b83\u88c5\u5728\u8def\u706f\u6746\u6216\u8005\u9f99\u95e8\u67b6\u4e0a\uff0c\u8d1f\u8d23\u4e24\u4ef6\u4e8b\uff1a<\/span>\u611f\u77e5\u878d\u5408<\/span><\/strong>\u548c<\/span>V2X\u5e7f\u64ad<\/span><\/strong><\/p>\n

\u611f\u77e5\u878d\u5408\u662f\u4ec0\u4e48\u610f\u601d\uff1f\u8def\u4fa7\u88c5\u4e86\u4e00\u7ec4\u4f20\u611f\u5668\u2014\u2014\u901a\u5e38\u5305\u62ec1\u52302\u53f0\u6444\u50cf\u5934\u30011\u53f0\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u6709\u6761\u4ef6\u7684\u8fd8\u4f1a\u52a0\u6fc0\u5149\u96f7\u8fbe\u3002RSU\u628a\u8fd9\u4e9b\u4f20\u611f\u5668\u7684\u6570\u636e\u878d\u5408\u8d77\u6765\uff0c\u5f62\u6210\u5bf9\u8def\u53e3\u5168\u5c40\u6001\u52bf\u7684\u611f\u77e5\u3002\u8fd9\u4e2a\u611f\u77e5\u7ed3\u679c\uff0c\u901a\u8fc7C-V2X\u5e7f\u64ad\u53d1\u7ed9\u5468\u56f4\u7684\u8f66\u8f86<\/span><\/p>\n

\ud83d\udea6 RSU\u5173\u952e\u6280\u672f\u53c2\u6570\uff08\u6d4b\u8bd5\u5fc5\u8bb0\uff09\uff1a<\/span><\/span><\/strong>
<\/span>\u2022 C-V2X\u901a\u4fe1\u9891\u6bb5\uff1a\u4e2d\u56fd5905\u20135925MHz\uff0820MHz\u5e26\u5bbd\uff09<\/span><\/span>
<\/span>\u2022 \u53d1\u5c04\u529f\u7387\uff1a23dBm\uff08200mW\uff09\uff0c\u5916\u63a5PA\u53ef\u523033dBm\uff082W\uff09<\/span><\/span>
<\/span>\u2022 PC5\u76f4\u8fde\u901a\u4fe1\u8ddd\u79bb\uff1a\u5178\u578b300\u2013500\u7c73\uff08\u89c6\u8ddd\uff09<\/span><\/span>
<\/span>\u2022 \u5e7f\u64ad\u5468\u671f\uff1aBSM\u6d88\u606f100ms\u4e00\u5e27\uff0cRSI\u6d88\u606f100ms\uff0cRSM\u6d88\u606f100ms<\/span><\/span>
<\/span>\u2022 \u652f\u6301\u6807\u51c6\uff1a3GPP Release 16\/17 C-V2X<\/span><\/span><\/p>\n

1.2 \u8fb9\u7f18\u5c42\uff1aMEC\u505a\u5b9e\u65f6\u8ba1\u7b97\u7684”\u51cf\u6cd5”<\/span><\/span><\/h3>\n

\u4e2d\u95f4\u8fd9\u4e00\u5c42\u53eb<\/span>MEC\uff08Multi-access Edge Computing\uff0c\u591a\u63a5\u5165\u8fb9\u7f18\u8ba1\u7b97\uff09<\/span><\/strong>\uff0c\u662f\u6574\u4e2a\u8f66\u8def\u4e91\u67b6\u6784\u91cc\u6700\u5bb9\u6613\u88ab\u5ffd\u89c6\u3001\u4f46\u5b9e\u9645\u4e0a\u6700\u5173\u952e\u7684\u4e00\u5c42\u3002\u56e0\u4e3a\u65f6\u5ef6\u8981\u6c42\u592a\u82db\u523b\u4e86<\/span><\/p>\n

\u8def\u4fa7\u611f\u77e5\u7684\u6570\u636e\u5982\u679c\u76f4\u63a5\u4e0a\u4e91\uff0c\u5f80\u8fd4\u65f6\u5ef6\u81f3\u5c11100ms\u8d77\u6b65\uff0c\u8fd9\u5bf9\u7d27\u6025\u5236\u52a8\u9884\u8b66\u6765\u8bf4\u592a\u6162\u4e86\u3002\u6240\u4ee5MEC\u5c31\u8fd1\u5904\u7406\u2014\u2014\u6444\u50cf\u5934\u62cd\u5230\u7684\u753b\u9762\u3001\u96f7\u8fbe\u68c0\u6d4b\u5230\u7684\u76ee\u6807\uff0c\u90fd\u5728MEC\u4e0a\u5b8c\u6210\u878d\u5408\u548c\u51b3\u7b56\uff0c\u7136\u540e\u7acb\u523b\u5e7f\u64ad\u51fa\u53bb\u3002\u4ece\u611f\u77e5\u5230\u5e7f\u64ad\uff0cMEC\u7684\u5904\u7406\u65f6\u5ef6\u8981\u6c42\u5728<\/span>20ms\u4ee5\u5185<\/span><\/span><\/strong><\/p>\n

1.3 \u4e91\u63a7\u5e73\u53f0\uff1a\u4e0a\u5e1d\u89c6\u89d2\u7684\u5168\u5c40\u8c03\u5ea6<\/span><\/span><\/h3>\n

\u6700\u4e0a\u5c42\u662f<\/span>\u4e91\u63a7\u5e73\u53f0<\/span><\/strong>\uff0c\u90e8\u7f72\u5728\u6570\u636e\u4e2d\u5fc3\u6216\u8005\u57ce\u57df\u673a\u623f\uff0c\u8d1f\u8d23\u4e09\u4ef6\u4e8b\uff1a<\/span>\u5b8f\u89c2\u8def\u5f84\u89c4\u5212<\/span><\/strong>\u3001<\/span>\u5927\u89c4\u6a21\u8f66\u8f86\u534f\u540c<\/span><\/strong>\u3001<\/span>\u6570\u636e\u95ed\u73af\u5206\u6790<\/span><\/strong><\/p>\n

\u4e91\u63a7\u5e73\u53f0\u548cMEC\u4e4b\u95f4\u901a\u8fc7\u5149\u7ea4\u62165G\u7f51\u7edc\u8fde\u63a5\uff0c\u901a\u5e38\u8d70HTTP REST API\u6216\u8005MQTT\u534f\u8bae\u3002\u4e91\u7aef\u4e0d\u8d1f\u8d23\u5b9e\u65f6\u63a7\u5236\u2014\u2014\u90a3\u662fMEC\u7684\u6d3b\u513f\u2014\u2014\u4e91\u63a7\u5e73\u53f0\u505a\u7684\u662f”\u6162\u51b3\u7b56”\uff1a\u6bd4\u5982\u52a8\u6001\u8c03\u6574\u4fe1\u53f7\u706f\u914d\u65f6\u3001\u89c4\u5212\u6574\u4e2a\u533a\u57df\u7684\u8f66\u8f86\u5206\u6d41\u7b56\u7565\u3001\u6536\u96c6\u8def\u4fa7\u6570\u636e\u505a\u6a21\u578b\u8bad\u7ec3<\/span><\/p>\n

1.4 \u8f66\u8f7d\u5c42\uff1aT-Box\u662f\u8f66\u8f86\u7684”\u8033\u6735”<\/span><\/span><\/h3>\n

\u8f66\u8f7d\u7aef\u7684\u6838\u5fc3\u662f<\/span>T-Box\uff08Telematics Box\uff09<\/span><\/span><\/strong>\uff0c\u4e5f\u6709\u7684\u53ebOBU\uff08On-board Unit\uff0c\u8f66\u8f7d\u5355\u5143\uff09<\/span>\u3002T-Box\u540c\u65f6\u5177\u5907C-V2X\u901a\u4fe1\u80fd\u529b\u548c4G\/5G\u8702\u7a9d\u901a\u4fe1\u80fd\u529b\u3002\u5b83\u63a5\u6536\u8def\u4fa7\u5e7f\u64ad\u7684\u6d88\u606f\uff0c\u628a\u5371\u9669\u9884\u8b66\u4fe1\u606f\u4f20\u9012\u7ed9\u8f66\u8f7d\u667a\u9a7e\u7cfb\u7edf\uff0c\u540c\u65f6\u628a\u81ea\u8eab\u5b9a\u4f4d\u548c\u72b6\u6001\u4e0a\u62a5\u7ed9\u4e91\u7aef<\/span><\/p>\n

\u8f66\u8def\u4e91\u4e00\u4f53\u5316\u4e09\u5c42\u67b6\u6784<\/span><\/span><\/span><\/p>\n

\n
\"\u5fae\u4fe1\u516c\u4f17\u53f7\u4e8c\u7ef4\u7801\"\u56fe\u7247\u5f15\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7\uff0c\u626b\u7801\u5173\u6ce8\u9605\u8bfb\u539f\u6587<\/span><\/figcaption><\/figure>\n<\/section>\n
\u8f66\u8def\u4e91\u4e00\u4f53\u5316\u4e09\u5c42\u67b6\u6784\uff0c\u8def\u4fa7\u611f\u77e5\u2192MEC\u8fb9\u7f18\u8ba1\u7b97\u2192\u4e91\u63a7\u5e73\u53f0\uff0c\u6bcf\u5c42\u90fd\u662f\u6d4b\u8bd5\u91cd\u70b9<\/span><\/span><\/span><\/section>\n

1.5 \u5404\u5c42\u63a5\u53e3\u534f\u8bae\u901f\u67e5<\/span><\/span><\/h3>\n\n\n\n\n\n\n\n\n\n
\n
\u63a5\u53e3<\/span><\/span><\/section>\n<\/th>\n
\n
\u534f\u8bae\u5c42<\/span><\/span><\/section>\n<\/th>\n
\n
\u5178\u578b\u65f6\u5ef6<\/span><\/span><\/section>\n<\/th>\n
\n
\u6d4b\u8bd5\u91cd\u70b9<\/span><\/span><\/section>\n<\/th>\n<\/tr>\n<\/thead>\n
\n
\u4f20\u611f\u5668\u2192MEC<\/span><\/section>\n<\/td>\n
\n
RTSP \/ UDP \/ GMSL<\/span><\/section>\n<\/td>\n
\n
<10ms<\/span><\/section>\n<\/td>\n
\n
\u5e27\u7387\u3001\u4e22\u5305\u7387\u3001\u6570\u636e\u5b8c\u6574\u6027<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
MEC\u2192RSU<\/span><\/section>\n<\/td>\n
\n
Ethernet \/ UDP<\/span><\/section>\n<\/td>\n
\n
<5ms<\/span><\/section>\n<\/td>\n
\n
\u6d88\u606f\u683c\u5f0f\u3001\u5e7f\u64ad\u5468\u671f<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
RSU\u2192OBU\uff08PC5\uff09<\/span><\/section>\n<\/td>\n
\n
3GPP C-V2X Layer1-2<\/span><\/section>\n<\/td>\n
\n
10\u201330ms<\/span><\/section>\n<\/td>\n
\n
\u63a5\u6536\u7075\u654f\u5ea6\u3001\u8986\u76d6\u8ddd\u79bb<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
OBU\u2192\u57fa\u7ad9\uff08Uu\uff09<\/span><\/section>\n<\/td>\n
\n
LTE-V \/ 5G NR<\/span><\/section>\n<\/td>\n
\n
50\u2013100ms<\/span><\/section>\n<\/td>\n
\n
\u5207\u6362\u65f6\u5ef6\u3001QoS\u7b49\u7ea7<\/span><\/section>\n<\/td>\n<\/tr>\n
\n
MEC\u2192\u4e91\u63a7\u5e73\u53f0<\/span><\/section>\n<\/td>\n
\n
HTTP REST \/ MQTT<\/span><\/section>\n<\/td>\n
\n
100\u2013500ms<\/span><\/section>\n<\/td>\n
\n
API\u54cd\u5e94\u65f6\u95f4\u3001\u5e76\u53d1\u80fd\u529b<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

<\/span><\/section>\n
\n

\u4e8c\u3001C-V2X\u53cc\u901a\u9053\u6d4b\u8bd5\uff1aPC5\u76f4\u8fde\u4e0eUu\u8702\u7a9d\uff0c\u5404\u6709\u5404\u7684\u5730\u76d8<\/span><\/h2>\n

C-V2X\u901a\u4fe1\u6709\u4e24\u6761\u8def\uff1a<\/span>PC5\u76f4\u8fde<\/span><\/span><\/strong>\u548c<\/span><\/span>Uu\u8702\u7a9d\u94fe\u8def<\/span><\/span><\/strong>\u3002\u5f88\u591a\u4eba\u641e\u4e0d\u6e05\u695a\u4ec0\u4e48\u65f6\u5019\u7528\u54ea\u4e2a\uff0c\u6211\u76f4\u63a5\u8bf4\u7ed3\u8bba\uff1a<\/span>\u5b89\u5168\u76f8\u5173\u7528PC5\uff0c\u6027\u80fd\u76f8\u5173\u7528Uu<\/span><\/span><\/strong><\/p>\n

2.1 PC5\uff1a\u76f4\u901a\u94fe\u8def\uff0c\u4f4e\u65f6\u5ef6\u662f\u5b83\u7684\u547d<\/span><\/span><\/h3>\n

PC5\u662f3GPP\u5b9a\u4e49\u7684\u4e00\u79cd\u8bbe\u5907\u95f4\u76f4\u63a5\u901a\u4fe1\u673a\u5236\uff0c\u4e0d\u7ecf\u8fc7\u57fa\u7ad9\u4e2d\u8f6c\uff0c\u624b\u673a\u5bf9\u624b\u673a\u3001\u8f66\u5bf9\u8f66\u76f4\u63a5\u804a\u3002PC5\u7684\u65f6\u5ef6\u53ef\u4ee5\u4f4e\u5230<\/span>10\u201330ms<\/span><\/span><\/strong>\uff0c\u8fd9\u662f\u5b83\u6700\u5927\u7684\u4f18\u52bf<\/span><\/p>\n

PC5\u7684\u5de5\u4f5c\u9891\u6bb5\u662f5905\u20135925MHz\uff0c\u91c7\u7528<\/span>SC-FDMA\uff08\u5355\u8f7d\u6ce2\u9891\u5206\u591a\u5740\uff09<\/span><\/span><\/strong>\u8c03\u5236\uff0c\u652f\u6301Mode 4\uff08\u81ea\u4e3b\u8d44\u6e90\u5206\u914d\uff09\uff0c\u8f66\u8f86\u4e0d\u9700\u8981\u57fa\u7ad9\u6388\u6743\uff0c\u81ea\u5df1\u5c31\u80fd\u9009\u65f6\u9891\u8d44\u6e90\u53d1\u6d88\u606f\u3002\u8fd9\u5bf9\u9ad8\u901f\u573a\u666f\u7279\u522b\u91cd\u8981\u2014\u2014\u4f60\u4e0d\u80fd\u8ba9\u8f66\u7b49\u57fa\u7ad9\u7684\u8c03\u5ea6\u6765\u5b8c\u6210\u7d27\u6025\u5239\u8f66\u9884\u8b66<\/span><\/p>\n\n\n\n
\n

\u26a0 PC5\u7684\u5751\uff1a<\/span><\/span><\/strong>PC5\u7684\u8986\u76d6\u8303\u56f4\u53d7\u9650\u4e8e\u89c6\u8ddd\uff0c\u5178\u578b\u6709\u6548\u8ddd\u79bb300\u2013500\u7c73\u3002\u9047\u5230\u906e\u6321\uff08\u5927\u578b\u8f66\u8f86\u3001\u5efa\u7b51\u7269\uff09\uff0c\u6709\u6548\u8ddd\u79bb\u4f1a\u6025\u5267\u4e0b\u964d\u523050\u2013100\u7c73\u3002\u6d4b\u8bd5\u65f6\u4e00\u5b9a\u8981\u505a\u906e\u6321\u573a\u666f\u7684\u4e13\u9879\u6d4b\u8bd5\uff0c\u4e0d\u80fd\u53ea\u5728\u7a7a\u65f7\u573a\u5730\u8dd1\u4ea4\u5dee<\/span><\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

2.2 Uu\uff1a\u8702\u7a9d\u94fe\u8def\uff0c\u8986\u76d6\u5e7f\u4f46\u65f6\u5ef6\u9ad8<\/span><\/span><\/h3>\n

Uu\u662f\u4f20\u7edf\u7684\u57fa\u7ad9\u4e0a\u4e0b\u884c\u94fe\u8def\uff0c\u8d70LTE\u62165G NR\u3002Uu\u7684\u4f18\u52bf\u662f\u8986\u76d6\u8303\u56f4\u5927\u2014\u2014\u6709\u57fa\u7ad9\u7684\u5730\u65b9\u5c31\u80fd\u901a\uff0c\u54ea\u6015\u9694\u7740\u51e0\u516c\u91cc\u3002\u4f46\u65f6\u5ef6\u4e5f\u9ad8\u4e0d\u5c11\uff1aLTE\u7f51\u7edc\u7aef\u5230\u7aef\u65f6\u5ef6\u901a\u5e38\u5728<\/span>50\u2013100ms<\/span><\/strong>\uff0c5G NR\u53ef\u4ee5\u538b\u5230<\/span>20\u201350ms<\/span><\/strong>\uff0c\u4f46\u524d\u63d0\u662f\u7f51\u7edc\u5df2\u7ecfURLLC\uff08\u8d85\u53ef\u9760\u4f4e\u65f6\u5ef6\u901a\u4fe1\uff09\u5207\u7247<\/span><\/p>\n

Uu\u9002\u5408\u4ec0\u4e48\u573a\u666f\uff1f\u9002\u5408\u4fe1\u606f\u5a31\u4e50\u3001\u8fdc\u7a0b\u8bca\u65ad\u3001\u5730\u56fe\u66f4\u65b0\u3001\u5927\u89c4\u6a21\u8f66\u961f\u7ba1\u7406\u8fd9\u7c7b\u5bf9\u65f6\u5ef6\u4e0d\u654f\u611f\u3001\u4f46\u9700\u8981\u5927\u8303\u56f4\u8fde\u63a5\u7684\u4e1a\u52a1<\/span><\/p>\n

2.3 \u4e24\u6761\u94fe\u8def\u7684\u5b9e\u6d4b\u5bf9\u6bd4<\/span><\/span><\/h3>\n
C-V2X\u53cc\u901a\u9053\u5bf9\u6bd4\uff1aPC5\u76f4\u8fde vs Uu\u8702\u7a9d<\/span><\/span><\/span><\/section>\n
\n
\"\u5fae\u4fe1\u516c\u4f17\u53f7\u4e8c\u7ef4\u7801\"\u56fe\u7247\u5f15\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7\uff0c\u626b\u7801\u5173\u6ce8\u9605\u8bfb\u539f\u6587<\/span><\/figcaption><\/figure>\n<\/section>\n
PC5\u4e0eUu\u53cc\u901a\u9053\u7279\u6027\u5bf9\u6bd4\uff0c\u5b89\u5168\u9884\u8b66\u9009PC5\uff0c\u4fe1\u606f\u670d\u52a1\u9009Uu<\/span><\/span><\/span><\/section>\n

2.4 \u6d4b\u8bd5\u8981\u70b9\uff1a\u53cc\u901a\u9053\u8981\u5206\u522b\u6d4b\uff0c\u4e5f\u8981\u6d4b\u5207\u6362<\/span><\/span><\/h3>\n

\u53cc\u901a\u9053\u6d4b\u8bd5\u6709\u51e0\u4e2a\u5fc5\u505a\u7684\u573a\u666f\uff1a<\/span><\/p>\n

\u2022 <\/span>\u901a\u9053\u72ec\u7acb\u6027\u6d4b\u8bd5\uff1a<\/span><\/strong>\u5206\u522b\u6d4b\u8bd5PC5\u548cUu\u5355\u72ec\u5de5\u4f5c\u65f6\u7684\u65f6\u5ef6\u3001\u4e22\u5305\u7387\u3001\u63a5\u6536\u7075\u654f\u5ea6<\/span><\/span><\/p>\n

\u2022 <\/span>\u901a\u9053\u5207\u6362\u6d4b\u8bd5\uff1a<\/span><\/strong>\u5f53\u8f66\u8f86\u4ece\u57fa\u7ad9\u8986\u76d6\u8fb9\u7f18\u8fdb\u5165\/\u79bb\u5f00\u65f6\uff0c\u6d4b\u8bd5Uu\u94fe\u8def\u5207\u6362\u5bf9\u4e1a\u52a1\u7684\u5f71\u54cd<\/span><\/span><\/p>\n

\u2022 <\/span>PC5+Uu\u5e76\u53d1\u6d4b\u8bd5\uff1a<\/span><\/strong>\u5b89\u5168\u6d88\u606f\u8d70PC5\uff0c\u5bfc\u822a\u6570\u636e\u8d70Uu\uff0c\u4e24\u8005\u540c\u65f6\u5de5\u4f5c\u4e92\u4e0d\u5e72\u6270<\/span><\/span><\/p>\n

\u2022 <\/span>\u906e\u6321\u573a\u666f\uff1a<\/span><\/strong>\u5927\u578b\u8f66\u8f86\u906e\u6321\u65f6\uff0cPC5\u4fe1\u53f7\u6025\u5267\u8870\u51cf\uff0c\u6d4b\u8bd5\u8f66\u8f86\u80fd\u5426\u6b63\u786e\u5207\u6362\u5230Uu\u6216\u8005\u89e6\u53d1\u672c\u5730\u9884\u8b66<\/span><\/span><\/p>\n

\n

\u4e09\u3001\u4e91\u63a7\u5e73\u53f0\u6d4b\u8bd5\uff1a\u611f\u77e5\u878d\u5408\u3001\u8def\u5f84\u89c4\u5212\u3001\u534f\u540c\u51b3\u7b56<\/span><\/h2>\n

\u4e91\u63a7\u5e73\u53f0\u662f\u8f66\u8def\u4e91\u67b6\u6784\u7684\u5927\u8111\uff0c\u4f46\u4e0d\u662f\u5904\u7406\u5b9e\u65f6\u9884\u8b66\u7684\u5927\u8111\u2014\u2014\u90a3\u662fMEC\u7684\u6d3b\u513f\u3002\u4e91\u63a7\u5e73\u53f0\u505a\u7684\u662f<\/span>\u6162\u51b3\u7b56<\/span><\/span><\/strong>\uff0c\u4f46”\u6162”\u4e0d\u4ee3\u8868\u53ef\u4ee5\u968f\u4fbf\u6162\uff0c\u5b83\u7684API\u54cd\u5e94\u65f6\u95f4\u76f4\u63a5\u51b3\u5b9a\u4e86\u5927\u89c4\u6a21\u8f66\u8f86\u534f\u540c\u8c03\u5ea6\u7684\u6548\u7387<\/span><\/p>\n

3.1 \u4e91\u63a7\u5e73\u53f0\u7684\u6838\u5fc3\u529f\u80fd\u6a21\u5757<\/span><\/span><\/h3>\n

\u6211\u4eec\u5b9e\u6d4b\u8fc7\u591a\u4e2a\u57ce\u5e02\u7684\u667a\u6167\u8def\u53e3\u4e91\u63a7\u5e73\u53f0\uff0c\u603b\u7ed3\u51fa\u4e09\u4e2a\u6838\u5fc3\u6a21\u5757\uff1a<\/span><\/span><\/p>\n

\u611f\u77e5\u878d\u5408\uff1a<\/span><\/span><\/strong>\u4e91\u7aef\u63a5\u6536\u5404MEC\u4e0a\u62a5\u7684\u8def\u4fa7\u611f\u77e5\u6570\u636e\uff08\u76ee\u6807\u5217\u8868\u3001\u8f66\u9053\u5360\u7528\u3001\u4fe1\u53f7\u706f\u72b6\u6001\uff09\uff0c\u8fdb\u884c\u8de8\u8def\u53e3\u878d\u5408\uff0c\u751f\u6210\u66f4\u5927\u8303\u56f4\u7684\u5168\u5c40\u6001\u52bf\u56fe\u3002\u8fd9\u90e8\u5206\u4e3b\u8981\u6d4b\u63a5\u53e3\u7684\u6b63\u786e\u6027\u548c\u6570\u636e\u5b8c\u6574\u6027<\/span><\/p>\n

\u8def\u5f84\u89c4\u5212\uff1a<\/span><\/span><\/strong>\u4e91\u7aef\u6839\u636e\u4ea4\u901a\u6d41\u91cf\u548c\u5168\u5c40\u6001\u52bf\uff0c\u4e3a\u8f66\u8f86\u63d0\u4f9b\u52a8\u6001\u8def\u5f84\u89c4\u5212\u5efa\u8bae\u3002\u6d4b\u8bd5\u91cd\u70b9\u662fAPI\u54cd\u5e94\u65f6\u95f4\u548c\u89c4\u5212\u7ed3\u679c\u7684\u6709\u6548\u6027<\/span><\/p>\n

\u534f\u540c\u51b3\u7b56\uff1a<\/span><\/span><\/strong>\u4e91\u7aef\u5411MEC\u4e0b\u53d1\u534f\u540c\u63a7\u5236\u6307\u4ee4\uff0c\u6bd4\u5982”\u4fe1\u53f7\u706f\u914d\u65f6\u8c03\u6574””\u8f66\u8f86\u6c47\u5165\u5f15\u5bfc”\u3002\u6d4b\u8bd5\u91cd\u70b9\u662f\u6307\u4ee4\u4e0b\u8fbe\u7684\u53ef\u9760\u6027\u548cMEC\u7684\u6307\u4ee4\u6267\u884c\u786e\u8ba4<\/span><\/p>\n

\u4e91\u63a7\u5e73\u53f0\u7cfb\u7edf\u67b6\u6784\u4e0eAPI\u6d4b\u8bd5\u70b9\u4f4d<\/span><\/span><\/span><\/section>\n
\n
\"\u5fae\u4fe1\u516c\u4f17\u53f7\u4e8c\u7ef4\u7801\"\u56fe\u7247\u5f15\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7\uff0c\u626b\u7801\u5173\u6ce8\u9605\u8bfb\u539f\u6587<\/span><\/figcaption><\/figure>\n<\/section>\n
\u4e91\u63a7\u5e73\u53f0\u4e09\u5927\u6a21\u5757\u4e0eAPI\u63a5\u53e3\u6d4b\u8bd5\u70b9\u4f4d\uff0c\u611f\u77e5\u878d\u5408\u2192\u8def\u5f84\u89c4\u5212\u2192\u534f\u540c\u51b3\u7b56<\/span><\/span><\/span><\/section>\n

3.2 \u4e91\u63a7\u5e73\u53f0\u63a5\u53e3\u6d4b\u8bd5\uff1a\u5b8c\u6574\u53ef\u8fd0\u884c\u4ee3\u7801<\/span><\/span><\/h3>\n

\u4e0b\u9762\u8fd9\u6bb5\u4ee3\u7801\uff0c\u6211\u7ed9\u4f60\u5199\u4e86\u4e00\u4e2a\u5b8c\u6574\u7684\u4e91\u63a7\u5e73\u53f0\u63a5\u53e3\u81ea\u52a8\u5316\u6d4b\u8bd5\u811a\u672c\u3002\u7528Python\u7684requests\u5e93\u8c03\u63a5\u53e3\uff0c\u7528pytest\u505a\u65ad\u8a00\uff0c\u6700\u540e\u751f\u6210HTML\u62a5\u544a<\/span><\/p>\n

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    #!\/usr\/bin\/env python3<\/span><\/span><\/code># -*- coding: utf-8 -*-<\/span><\/span><\/code>\"\"\"<\/span><\/span><\/code>\u4e91\u63a7\u5e73\u53f0API\u63a5\u53e3\u81ea\u52a8\u5316\u6d4b\u8bd5\u811a\u672c<\/span><\/code>\u6d4b\u8bd5\u5185\u5bb9\uff1a\u611f\u77e5\u878d\u5408 \/ \u8def\u5f84\u89c4\u5212 \/ \u534f\u540c\u51b3\u7b56 \u4e09\u5927\u6a21\u5757<\/span><\/code>\u4f9d\u8d56\uff1apip install requests pytest pytest-html<\/span><\/code>\"\"\"<\/span><\/code>import<\/span> requests<\/span><\/code>import<\/span> time<\/span><\/code>import<\/span> json<\/span><\/code>import<\/span> pytest<\/span><\/code>from<\/span> datetime import<\/span> datetime<\/span><\/code># ============ \u914d\u7f6e\u533a\uff08\u6839\u636e\u5b9e\u9645\u9879\u76ee\u4fee\u6539\uff09 ============<\/span><\/span><\/code>BASE_URL = \"https:\/\/cloudctrl.example.com\/api\/v2\"<\/span><\/span><\/code>TOKEN = \"eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.test_token_replace_me\"<\/span><\/span><\/code>HEADERS = {<\/span><\/code>    \"Authorization\"<\/span>: f\"Bearer <\/span>{TOKEN}<\/span><\/span>\"<\/span>,<\/span><\/code>    \"Content-Type\"<\/span>: \"application\/json\"<\/span>,<\/span><\/code>    \"X-Request-ID\"<\/span>: \"\"<\/span>,<\/span><\/code>}<\/span><\/code>TIMEOUT = 5.0<\/span>  # \u63a5\u53e3\u8d85\u65f6\u65f6\u95f4\uff08\u79d2\uff09<\/span><\/span><\/code># ============ \u8f85\u52a9\u51fd\u6570 ============<\/span><\/span><\/code>def<\/span> make_request_id<\/span>():<\/span><\/code>    \"# \u751f\u6210\u552f\u4e00\u8bf7\u6c42ID\uff0c\u65b9\u4fbf\u65e5\u5fd7\u8ffd\u8e2a\"<\/span><\/span><\/code>    return<\/span> f\"test-<\/span>{datetime.now().strftime(<\/span><\/span>\"%Y%m%d%H%M%S%f\"<\/span><\/span><\/span>)}<\/span><\/span>\"<\/span><\/span><\/code>def<\/span> api_request<\/span>(method, endpoint, payload=<\/span>None<\/span><\/span>):<\/span><\/code>    \"# \u7edf\u4e00\u8bf7\u6c42\u5c01\u88c5\uff1a\u81ea\u52a8\u6ce8\u5165\u8bf7\u6c42ID\uff0c\u81ea\u52a8\u8bb0\u5f55\u8017\u65f6\"<\/span><\/span><\/code>    url = f\"<\/span>{BASE_URL}<\/span><\/span>\/<\/span>{endpoint}<\/span><\/span>\"<\/span><\/span><\/code>    HEADERS[\"X-Request-ID\"<\/span>] = make_request_id()<\/span><\/code>    start = time.perf_counter()<\/span><\/code>    try<\/span>:<\/span><\/code>        resp = requests.request(<\/span><\/code>            method=method,<\/span><\/code>            url=url,<\/span><\/code>            headers=HEADERS,<\/span><\/code>            json=payload,<\/span><\/code>            timeout=TIMEOUT<\/span><\/code>        )<\/span><\/code>        elapsed = (time.perf_counter() - start) * 1000<\/span>  # ms<\/span><\/span><\/code>        return<\/span> resp, elapsed<\/span><\/code>    except<\/span> requests.exceptions.Timeout:<\/span><\/code>        pytest.fail(f\"\u8bf7\u6c42\u8d85\u65f6\uff08<\/span>{TIMEOUT}<\/span><\/span>s\uff09\uff1a<\/span>{endpoint}<\/span><\/span>\"<\/span>)<\/span><\/code>    except<\/span> Exception as<\/span> e:\\n        pytest.fail(f\"\u8bf7\u6c42\u5f02\u5e38\uff1a<\/span>{e}<\/span><\/span>\"<\/span>)<\/span><\/code># ============ \u6d4b\u8bd5\u7528\u4f8b ============<\/span><\/span><\/code>class<\/span> TestFusionAPI<\/span>:<\/span><\/code>    \"\"\"\u611f\u77e5\u878d\u5408\u6a21\u5757\u6d4b\u8bd5\"\"\"<\/span><\/span><\/code>    def<\/span> test_fusion_report<\/span>(self<\/span>):<\/span><\/code>        \"\"\"\u6d4b\u8bd5\uff1aMEC\u4e0a\u62a5\u611f\u77e5\u6570\u636e\uff0c\u4e91\u63a7\u5e73\u53f0\u878d\u5408\u6210\u529f\"\"\"<\/span><\/span><\/code>        payload = {<\/span><\/code>            \"mec_id\"<\/span>: \"MEC-001\"<\/span>,<\/span><\/code>            \"intersection_id\"<\/span>: \"INT-A001\"<\/span>,<\/span><\/code>            \"timestamp\"<\/span>: datetime.now().isoformat() + \"Z\"<\/span>,<\/span><\/code>            \"objects\"<\/span>: [<\/span><\/code>                {<\/span><\/code>                    \"id\"<\/span>: \"obj-001\"<\/span>,<\/span><\/code>                    \"type\"<\/span>: \"vehicle\"<\/span>,<\/span><\/code>                    \"position\"<\/span>: {\"lat\"<\/span>: 31.2304<\/span>, \"lon\"<\/span>: 121.4737<\/span>},<\/span><\/code>                    \"velocity\"<\/span>: 15.5<\/span>,<\/span><\/code>                    \"heading\"<\/span>: 90.0<\/span><\/span><\/code>                },<\/span><\/code>                {<\/span><\/code>                    \"id\"<\/span>: \"obj-002\"<\/span>,<\/span><\/code>                    \"type\"<\/span>: \"pedestrian\"<\/span>,<\/span><\/code>                    \"position\"<\/span>: {\"lat\"<\/span>: 31.2305<\/span>, \"lon\"<\/span>: 121.4738<\/span>},<\/span><\/code>                    \"velocity\"<\/span>: 1.2<\/span>,<\/span><\/code>                    \"heading\"<\/span>: 45.0<\/span><\/span><\/code>                }<\/span><\/code>            ]<\/span><\/code>        }<\/span><\/code>        resp, elapsed = api_request(\"POST\"<\/span>, \"fusion\/report\"<\/span>, payload=payload)<\/span><\/code>        assert<\/span> resp.status_code == 200<\/span>, f\"\u878d\u5408\u4e0a\u62a5\u5931\u8d25\uff1a<\/span>{resp.text}<\/span><\/span>\"<\/span><\/span><\/code>        data = resp.json()<\/span><\/code>        assert<\/span> data.get(\"code\"<\/span>) == 0<\/span>, \"\u4e1a\u52a1\u8fd4\u56de\u7801\u975e0\"<\/span><\/span><\/code>        assert<\/span> \"fusion_id\"<\/span> in<\/span> data, \"\u7f3a\u5c11\u878d\u5408ID\"<\/span><\/span><\/code>        assert<\/span> elapsed < 200<\/span>, f\"\u878d\u5408\u63a5\u53e3\u54cd\u5e94\u65f6\u95f4<\/span>{elapsed:<\/span><\/span>.0<\/span><\/span><\/span>f}<\/span><\/span>ms\uff0c\u8d85\u8fc7200ms\u9608\u503c\"<\/span><\/span><\/code>        print<\/span>(f\"\u2713 \u878d\u5408\u4e0a\u62a5\u6210\u529f\uff0c\u54cd\u5e94<\/span>{elapsed:<\/span><\/span>.0<\/span><\/span><\/span>f}<\/span><\/span>ms\uff0cfusion_id=<\/span>{data[<\/span><\/span>'fusion_id'<\/span><\/span><\/span>]}<\/span><\/span>\"<\/span>)<\/span><\/code>class<\/span> TestRouteAPI<\/span>:<\/span><\/code>    \"\"\"\u8def\u5f84\u89c4\u5212\u6a21\u5757\u6d4b\u8bd5\"\"\"<\/span><\/span><\/code>    def<\/span> test_route_plan<\/span>(self<\/span>):<\/span><\/code>        \"\"\"\u6d4b\u8bd5\uff1a\u5355\u8f66\u8def\u5f84\u89c4\u5212\u8bf7\u6c42\u4e0e\u54cd\u5e94\"\"\"<\/span><\/span><\/code>        payload = {<\/span><\/code>            \"vehicle_id\"<\/span>: \"VH-20260816001\"<\/span>,<\/span><\/code>            \"start\"<\/span>: {\"lat\"<\/span>: 31.2304<\/span>, \"lon\"<\/span>: 121.4737<\/span>},<\/span><\/code>            \"end\"<\/span>: {\"lat\"<\/span>: 31.2400<\/span>, \"lon\"<\/span>: 121.4800<\/span>},<\/span><\/code>            \"preference\"<\/span>: \"fastest\"<\/span><\/span><\/code>        }<\/span><\/code>        resp, elapsed = api_request(\"POST\"<\/span>, \"route\/plan\"<\/span>, payload=payload)<\/span><\/code>        assert<\/span> resp.status_code == 200<\/span><\/span><\/code>        data = resp.json()<\/span><\/code>        assert<\/span> \"route\"<\/span> in<\/span> data and<\/span> len<\/span>(data[\"route\"<\/span>][\"waypoints\"<\/span>]) > 0<\/span><\/span><\/code>        assert<\/span> elapsed < 300<\/span>, f\"\u8def\u5f84\u89c4\u5212<\/span>{elapsed:<\/span><\/span>.0<\/span><\/span><\/span>f}<\/span><\/span>ms\uff0c\u8d85\u8fc7300ms\u9608\u503c\"<\/span><\/span><\/code>        print<\/span>(f\"\u2713 \u8def\u5f84\u89c4\u5212\u6210\u529f\uff0c<\/span>{<\/span><\/span>len<\/span><\/span><\/span>(data[<\/span><\/span>'route'<\/span><\/span><\/span>][<\/span><\/span>'waypoints'<\/span><\/span><\/span>])}<\/span><\/span>\u4e2a\u822a\u70b9\uff0c\u8017\u65f6<\/span>{elapsed:<\/span><\/span>.0<\/span><\/span><\/span>f}<\/span><\/span>ms\"<\/span>)<\/span><\/code>class<\/span> TestControlAPI<\/span>:<\/span><\/code>    \"\"\"\u534f\u540c\u51b3\u7b56\u6a21\u5757\u6d4b\u8bd5\"\"\"<\/span><\/span><\/code>    def<\/span> test_signal_control<\/span>(self<\/span>):<\/span><\/code>        \"\"\"\u6d4b\u8bd5\uff1a\u4fe1\u53f7\u706f\u914d\u65f6\u8c03\u6574\u6307\u4ee4\u4e0b\u53d1\"\"\"<\/span><\/span><\/code>        payload = {<\/span><\/code>            \"intersection_id\"<\/span>: \"INT-A001\"<\/span>,<\/span><\/code>            \"phase\"<\/span>: 2<\/span>,<\/span><\/code>            \"green_duration\"<\/span>: 35<\/span>,<\/span><\/code>            \"reason\"<\/span>: \"\u9ad8\u5cf0\u671f\u6d41\u91cf\u8c03\u63a7\"<\/span><\/span><\/code>        }<\/span><\/code>        resp, elapsed = api_request(\"POST\"<\/span>, \"control\/signal\"<\/span>, payload=payload)<\/span><\/code>        assert<\/span> resp.status_code == 200<\/span><\/span><\/code>        data = resp.json()<\/span><\/code>        assert<\/span> data.get(\"control_id\"<\/span>) is<\/span> not<\/span> None<\/span><\/span><\/code>        assert<\/span> elapsed < 500<\/span>, f\"\u63a7\u5236\u6307\u4ee4<\/span>{elapsed:<\/span><\/span>.0<\/span><\/span><\/span>f}<\/span><\/span>ms\uff0c\u8d85\u8fc7500ms\u9608\u503c\"<\/span><\/span><\/code>        print<\/span>(f\"\u2713 \u4fe1\u53f7\u706f\u63a7\u5236\u6307\u4ee4\u4e0b\u53d1\u6210\u529f\uff0ccontrol_id=<\/span>{data[<\/span><\/span>'control_id'<\/span><\/span><\/span>]}<\/span><\/span>\"<\/span>)<\/span><\/code><\/pre>\n<\/section>\n\n\n\n
    \n
    \u2714 \u4ee3\u7801\u8bf4\u660e\uff1a<\/span><\/span><\/strong>\u8fd9\u4e2a\u811a\u672c\u8986\u76d6\u4e86\u4e91\u63a7\u5e73\u53f0\u4e09\u5927\u6838\u5fc3\u6a21\u5757\u7684\u63a5\u53e3\u6d4b\u8bd5\uff0c\u5305\u62ec\u6b63\u5e38\u6d41\u7a0b\uff08200\u65ad\u8a00\uff09\u3001\u5f02\u5e38\u6d41\u7a0b\uff08400\u65ad\u8a00\uff09\u3001\u6027\u80fd\u9608\u503c\uff08\u54cd\u5e94\u65f6\u95f4\u65ad\u8a00\uff09\u3002\u7528pytest\u8fd0\u884c\u65f6\u52a0 <\/span><\/span><\/span>--html=report.html --self-contained-html<\/span><\/span><\/code> \u53ef\u4ee5\u751f\u6210\u53ef\u89c6\u5316\u62a5\u544a<\/span><\/span><\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n
    \u56db\u3001\u7aef\u5230\u7aef\u534f\u540c\u6d4b\u8bd5\uff1a\u4ece\u8def\u4fa7\u68c0\u6d4b\u5230\u8f66\u8f86\u6267\u884c<\/span><\/h2>\n
    \u8fd9\u662f\u8f66\u8def\u4e91\u6d4b\u8bd5\u91cc\u6700\u6838\u5fc3\u3001\u4e5f\u662f\u6700\u6709\u6311\u6218\u6027\u7684\u90e8\u5206\u2014\u2014<\/span>\u7aef\u5230\u7aef\u534f\u540c<\/span><\/strong>\u3002\u6211\u4eec\u8981\u628a\u4ece”\u8def\u4fa7\u4f20\u611f\u5668\u68c0\u6d4b\u5230\u76ee\u6807”\u5230”\u8f66\u8f86\u6267\u884c\u76f8\u5e94\u52a8\u4f5c”\u7684\u6574\u4e2a\u94fe\u8def\u4e32\u8d77\u6765\u6d4b\u8bd5<\/span><\/p>\n
    4.1 \u5168\u94fe\u8def\u65f6\u5ef6\u62c6\u89e3\uff1a\u6bcf\u4e00\u6beb\u79d2\u90fd\u8981\u7b97\u6e05\u695a<\/span><\/span><\/h3>\n
    \u7aef\u5230\u7aef\u534f\u540c\u7684\u6838\u5fc3\u6307\u6807\u662f<\/span>\u5168\u94fe\u8def\u65f6\u5ef6<\/span><\/strong>\u3002\u6211\u4eec\u8981\u6c42\u4ece\u8def\u4fa7\u611f\u77e5\u5230\u8f66\u8f86\u6267\u884c\uff0c\u63a7\u5236\u5728<\/span>100ms\u4ee5\u5185<\/span><\/strong>\u3002\u8fd9\u4e2a100ms\u600e\u4e48\u62c6\u51fa\u6765\u7684\uff1f<\/span><\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n
    \n
    \u73af\u8282<\/span><\/span><\/section>\n<\/th>\n
    		\n
    \u5178\u578b\u65f6\u5ef6<\/span><\/span><\/section>\n<\/th>\n
    		\n
    \u6700\u5927\u5bb9\u5fcd<\/span><\/span><\/section>\n<\/th>\n
    		\n
    \u6d4b\u8bd5\u65b9\u6cd5<\/span><\/span><\/section>\n<\/th>\n<\/tr>\n<\/thead>\n
    \n
    \u6444\u50cf\u5934\u5e27\u91c7\u96c6<\/span><\/section>\n<\/td>\n
    		\n
    3\u201310ms<\/span><\/section>\n<\/td>\n
    		\n
    15ms<\/span><\/section>\n<\/td>\n
    		\n
    \u5e27\u65f6\u95f4\u6233\u5bf9\u9f50<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    \u96f7\u8fbe\u76ee\u6807\u68c0\u6d4b<\/span><\/section>\n<\/td>\n
    		\n
    5\u201315ms<\/span><\/section>\n<\/td>\n
    		\n
    20ms<\/span><\/section>\n<\/td>\n
    		\n
    \u76ee\u6807\u65f6\u95f4\u6233\u68c0\u6d4b<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    MEC\u611f\u77e5\u878d\u5408<\/span><\/section>\n<\/td>\n
    		\n
    10\u201320ms<\/span><\/section>\n<\/td>\n
    		\n
    25ms<\/span><\/section>\n<\/td>\n
    		\n
    MEC\u65e5\u5fd7\u5206\u6790<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    RSU\u5e7f\u64ad\u65f6\u5ef6<\/span><\/section>\n<\/td>\n
    		\n
    3\u20138ms<\/span><\/section>\n<\/td>\n
    		\n
    10ms<\/span><\/section>\n<\/td>\n
    		\n
    PCAP\u6293\u5305\u5206\u6790<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    \u65e0\u7ebf\u7a7a\u53e3\u4f20\u8f93\uff08PC5\uff09<\/span><\/section>\n<\/td>\n
    		\n
    5\u201315ms<\/span><\/section>\n<\/td>\n
    		\n
    20ms<\/span><\/section>\n<\/td>\n
    		\n
    \u7a7a\u53e3\u4eea\u8868\u6d4b\u91cf<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    \u8f66\u8f7dT-Box\u89e3\u7801<\/span><\/section>\n<\/td>\n
    		\n
    2\u20135ms<\/span><\/section>\n<\/td>\n
    		\n
    8ms<\/span><\/section>\n<\/td>\n
    		\n
    T-Box\u65e5\u5fd7<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    \u8f66\u8f7d\u667a\u9a7e\u51b3\u7b56<\/span><\/section>\n<\/td>\n
    		\n
    10\u201330ms<\/span><\/section>\n<\/td>\n
    		\n
    40ms<\/span><\/section>\n<\/td>\n
    		\n
    CAN\u603b\u7ebf\u65e5\u5fd7<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    \u8f66\u8f86\u6267\u884c\u673a\u6784<\/span><\/section>\n<\/td>\n
    		\n
    5\u201315ms<\/span><\/section>\n<\/td>\n
    		\n
    20ms<\/span><\/section>\n<\/td>\n
    		\n
    CAN\u62a5\u6587\u76d1\u6d4b<\/span><\/section>\n<\/td>\n<\/tr>\n
    \u5408\u8ba1<\/span><\/strong><\/td>\n43\u2013118ms<\/span><\/strong><\/td>\n\u2264100ms<\/span><\/strong><\/td>\n\n
    \u7aef\u5230\u7aef\u65f6\u95f4\u6233\u5bf9\u9f50<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \u4ece\u8868\u683c\u53ef\u4ee5\u770b\u5230\uff0c\u7406\u8bba\u6700\u5c0f\u503c\u662f43ms\uff0c\u7406\u8bba\u6700\u5927\u503c\u662f118ms\u3002\u8981\u4fdd\u8bc199%\u4ee5\u4e0a\u7684\u60c5\u51b5\u4e0d\u8d85\u8fc7100ms\uff0c\u6bcf\u4e2a\u73af\u8282\u90fd\u8981\u4f18\u5316\u5230\u4f4d<\/span><\/p>\n
    \u7aef\u5230\u7aef\u534f\u540c\u65f6\u5e8f\u56fe\uff1a\u8def\u4fa7\u68c0\u6d4b \u2192 V2X\u5e7f\u64ad \u2192 \u8f66\u8f86\u6267\u884c<\/span><\/span><\/span><\/section>\n
    \n
    \"\u5fae\u4fe1\u516c\u4f17\u53f7\u4e8c\u7ef4\u7801\"\u56fe\u7247\u5f15\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7\uff0c\u626b\u7801\u5173\u6ce8\u9605\u8bfb\u539f\u6587<\/span><\/figcaption><\/figure>\n<\/section>\n
    \u7aef\u5230\u7aef\u534f\u540c\u5168\u94fe\u8def\u65f6\u5e8f\uff0c\u611f\u77e5\u2192\u878d\u5408\u2192\u5e7f\u64ad\u2192\u89e3\u7801\u2192\u51b3\u7b56\u2192\u6267\u884c\uff0c\u5168\u94fe\u8def86ms\u6ee1\u8db3\u8981\u6c42<\/span><\/span><\/span><\/section>\n
    4.2 \u7aef\u5230\u7aef\u6d4b\u8bd5\u7684\u65f6\u95f4\u6233\u5bf9\u9f50\u65b9\u6cd5<\/span><\/span><\/h3>\n
    \u6d4b\u7aef\u5230\u7aef\u65f6\u5ef6\uff0c\u6700\u5173\u952e\u7684\u6280\u672f\u624b\u6bb5\u662f<\/span>\u65f6\u95f4\u6233\u5bf9\u9f50<\/span><\/strong>\u3002\u6211\u4eec\u5728\u6bcf\u4e2a\u8282\u70b9\u4e0a\u7edf\u4e00\u7528NTP\u6388\u65f6\uff08\u7cbe\u5ea6<1ms\uff09\uff0c\u7136\u540e\u8bb0\u5f55\u6bcf\u4e2a\u73af\u8282\u7684\u8fdb\u51fa\u65f6\u95f4\u6233\uff0c\u6700\u540e\u505a\u5dee\u503c\u8ba1\u7b97<\/span><\/p>\n
    \u5177\u4f53\u64cd\u4f5c\u6b65\u9aa4\uff1a<\/span><\/p>\n
    \u2022 <\/span>\u7b2c\u4e00\u6b65\uff1a<\/span><\/span><\/strong>\u5728\u8def\u4fa7\u6444\u50cf\u5934\u3001MEC\u3001RSU\u3001\u8f66\u8f7dT-Box\u4e0a\u5206\u522b\u542f\u7528NTP\u5ba2\u6237\u7aef\uff0c\u540c\u6b65\u5230\u540c\u4e00\u65f6\u95f4\u670d\u52a1\u5668<\/span><\/p>\n
    \u2022 <\/span><\/span>\u7b2c\u4e8c\u6b65\uff1a<\/span><\/span><\/strong>\u5728\u88ab\u6d4b\u94fe\u8def\u4e0a\u6240\u6709\u8282\u70b9\u5f00\u542fPCAP\u6293\u5305\uff0c\u8bb0\u5f55\u6bcf\u4e2aV2X\u6d88\u606f\u7684\u7cbe\u786e\u5230\u8fbe\u65f6\u95f4<\/span><\/p>\n
    \u2022 <\/span>\u7b2c\u4e09\u6b65\uff1a<\/span><\/span><\/strong>\u5728\u8f66\u8f7dCAN\u603b\u7ebf\u4e0a\u540c\u65f6\u6293\u53d6\u667a\u9a7e\u7cfb\u7edf\u7684\u51b3\u7b56\u62a5\u6587\uff08\u542b\u65f6\u95f4\u6233\uff09<\/span><\/p>\n
    \u2022 <\/span>\u7b2c\u56db\u6b65\uff1a<\/span><\/span><\/strong>\u7528Python\u811a\u672c\u628aPCAP\u6570\u636e\u548cCAN\u6570\u636e\u6309\u65f6\u95f4\u8f74\u5bf9\u9f50\uff0c\u8ba1\u7b97\u7aef\u5230\u7aef\u5ef6\u8fdf<\/span><\/p>\n\n\n\n
    \n
    \u26a0 \u8e29\u5751\u63d0\u9192\uff1a<\/span><\/span><\/strong>\u5f88\u591a\u9879\u76ee\u5728\u6d4b\u8bd5\u65f6\u53d1\u73b0\u7aef\u5230\u7aef\u65f6\u5ef6\u8d85\u6807\uff0c\u7ed3\u679c\u53d1\u73b0\u662fNTP\u540c\u6b65\u6ca1\u505a\u597d\uff0c\u5404\u8282\u70b9\u65f6\u95f4\u5dee\u4e86\u597d\u51e0\u6beb\u79d2\u751a\u81f3\u51e0\u5341\u6beb\u79d2\u3002\u5148\u68c0\u67e5NTP\u540c\u6b65\u72b6\u6001\uff0c\u518d\u6d4b\u65f6\u5ef6<\/span><\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n
    \u4e94\u3001\u5b9e\u6218\u8bb2\u89e3\uff1a\u667a\u6167\u8def\u53e3”\u9b3c\u63a2\u5934”\u9884\u8b66\u7684\u7aef\u5230\u7aef\u6d4b\u8bd5<\/span><\/h2>\n
    \u8bf4\u4e86\u8fd9\u4e48\u591a\u7406\u8bba\uff0c\u6211\u4eec\u6765\u505a\u4e00\u4e2a\u5b8c\u6574\u7684\u5b9e\u6218\u6848\u4f8b\u2014\u2014\u6d4b\u8bd5\u667a\u6167\u8def\u53e3\u7684<\/span>“\u9b3c\u63a2\u5934”\u9884\u8b66<\/span><\/span><\/strong>\u529f\u80fd<\/span>\u3002\u9b3c\u63a2\u5934\u662f\u4ec0\u4e48\uff1f\u5c31\u662f\u8f66\u8f86\u6b63\u5e38\u884c\u9a76\u65f6\uff0c\u6709\u4e2a\u884c\u4eba\u7a81\u7136\u4ece\u505c\u7740\u7684\u516c\u4ea4\u8f66\u540e\u9762\u51b2\u51fa\u6765\uff0c\u53f8\u673a\u548c\u8f66\u8f7d\u4f20\u611f\u5668\u90fd\u6765\u4e0d\u53ca\u53cd\u5e94\u3002\u8fd9\u4e2a\u573a\u666f\u662f\u57ce\u5e02NOA\u548cV2X\u6700\u60f3\u89e3\u51b3\u7684\u95ee\u9898\u4e4b\u4e00<\/span><\/span><\/p>\n
    5.1 \u573a\u666f\u63cf\u8ff0<\/span><\/span><\/h3>\n\n\n\n
    \n
    \ud83c\udfac \u573a\u666f\u8fd8\u539f\uff1a<\/span><\/strong>\u4e00\u8f86\u81ea\u52a8\u9a7e\u9a76\u516c\u4ea4\u8f66\u5728\u8def\u53e3\u5de6\u8f6c\u8f66\u9053\u7b49\u5f85\u4fe1\u53f7\u706f\u3002\u6b64\u65f6\u4e00\u8f86\u516c\u4ea4\u8f66\u505c\u5728\u76f8\u90bb\u53f3\u8f6c\u8f66\u9053\u3002\u4fe1\u53f7\u706f\u53d8\u7eff\u540e\uff0c\u516c\u4ea4\u8f66\u8d77\u6b65\uff0c\u6b64\u65f6\u4e00\u4e2a\u884c\u4eba\u4ece\u516c\u4ea4\u8f66\u8f66\u5934\u524d\u65b9\u7a81\u7136\u7a9c\u51fa\u2014\u2014\u8fd9\u5c31\u662f\u7ecf\u5178\u7684”\u9b3c\u63a2\u5934”\u573a\u666f\u3002\u5bf9\u4eba\u7c7b\u9a7e\u9a76\u5458\u6765\u8bf4\uff0c\u8fd9\u662f\u6700\u5371\u9669\u7684\u573a\u666f\u4e4b\u4e00\uff1b\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6765\u8bf4\uff0c\u9700\u8981V2X\u8def\u4fa7\u611f\u77e5\u7684\u63d0\u524d\u9884\u8b66\u624d\u80fd\u53ca\u65f6\u5239\u505c<\/span><\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n\n\n
    \n
    \u6211\u4eec\u7684\u6d4b\u8bd5\u76ee\u6807\uff1a<\/span><\/span><\/p>\n
    \u8def\u4fa7\u6444\u50cf\u5934+\u96f7\u8fbe\u878d\u5408\u68c0\u6d4b\u5230\u884c\u4eba\u540e\uff0c\u901a\u8fc7V2X\u5e7f\u64ad\u9884\u8b66\u6d88\u606f\u7ed9\u540e\u65b9\u8f66\u8f86\uff0c\u540e\u65b9\u8f66\u8f86\u5728\u884c\u4eba\u51b2\u51fa\u524d<\/span>\u81f3\u5c111.5\u79d2<\/span><\/strong>\u6536\u5230\u9884\u8b66\u5e76\u5f00\u59cb\u5236\u52a8<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    5.2 \u6d4b\u8bd5\u7528\u4f8b\u8bbe\u8ba1<\/span><\/span><\/h3>\n\n\n\n\n\n\n\n\n\n
    \n
    \u7528\u4f8b\u7f16\u53f7<\/span><\/span><\/section>\n<\/th>\n
    		\n
    \u7528\u4f8b\u540d\u79f0<\/span><\/span><\/section>\n<\/th>\n
    		\n
    \u524d\u7f6e\u6761\u4ef6<\/span><\/span><\/section>\n<\/th>\n
    		\n
    \u6d4b\u8bd5\u6b65\u9aa4<\/span><\/span><\/section>\n<\/th>\n
    		\n
    \u901a\u8fc7\u6807\u51c6<\/span><\/span><\/section>\n<\/th>\n<\/tr>\n<\/thead>\n
    \n
    V2X-GH-001<\/span><\/section>\n<\/td>\n
    		\n
    \u9b3c\u63a2\u5934\u9884\u8b66\u2014\u6b63\u5e38\u68c0\u6d4b<\/span><\/section>\n<\/td>\n
    		\n
    \u8def\u4fa7RSU\u6b63\u5e38\u5e7f\u64ad\uff0c\u884c\u4eba\u5728\u63a2\u6d4b\u533a\u5185<\/span><\/section>\n<\/td>\n
    		\n
    \u884c\u4eba\u4ece\u906e\u6321\u7269\u540e\u51b2\u51fa\uff0c\u68c0\u6d4b\u5e76\u5e7f\u64ad\u9884\u8b66<\/span><\/section>\n<\/td>\n
    		\n
    \u9884\u8b66\u6d88\u606f\u5728\u884c\u4eba\u51b2\u51fa\u540e50ms\u5185\u53d1\u51fa<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    V2X-GH-002<\/span><\/section>\n<\/td>\n
    		\n
    \u9b3c\u63a2\u5934\u9884\u8b66\u2014\u906e\u6321\u5e72\u6270<\/span><\/section>\n<\/td>\n
    		\n
    \u5927\u578b\u8f66\u8f86\u906e\u6321\u8def\u4fa7\u6444\u50cf\u5934\u90e8\u5206\u89c6\u91ce<\/span><\/section>\n<\/td>\n
    		\n
    \u884c\u4eba\u4ece\u906e\u6321\u7f1d\u9699\u51b2\u51fa\uff0c\u6d4b\u8bd5\u611f\u77e5\u9c81\u68d2\u6027<\/span><\/section>\n<\/td>\n
    		\n
    \u96f7\u8fbe\u5355\u72ec\u68c0\u6d4b\u5230\u884c\u4eba\uff0c\u9884\u8b66\u4ecd\u80fd\u53d1\u51fa<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    V2X-GH-003<\/span><\/section>\n<\/td>\n
    		\n
    \u9b3c\u63a2\u5934\u9884\u8b66\u2014\u591a\u76ee\u6807<\/span><\/section>\n<\/td>\n
    		\n
    \u540c\u65f6\u6709\u884c\u4eba\u548c\u81ea\u884c\u8f66\u51b2\u51fa<\/span><\/section>\n<\/td>\n
    		\n
    \u591a\u76ee\u6807\u540c\u65f6\u51fa\u73b0\uff0c\u6d4b\u8bd5\u878d\u5408\u4e0e\u4f18\u5148\u7ea7<\/span><\/section>\n<\/td>\n
    		\n
    \u4e24\u4e2a\u76ee\u6807\u5747\u88ab\u68c0\u6d4b\uff0c\u4f18\u5148\u7ea7\u5224\u65ad\u6b63\u786e<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    V2X-GH-004<\/span><\/section>\n<\/td>\n
    		\n
    \u9b3c\u63a2\u5934\u9884\u8b66\u2014\u8d85\u8fdc\u8ddd\u79bb<\/span><\/section>\n<\/td>\n
    		\n
    \u8f66\u8f86\u8ddd\u8def\u53e380\u7c73<\/span><\/section>\n<\/td>\n
    		\n
    \u884c\u4eba\u63d0\u524d\u51b2\u51fa\uff0c\u6d4b\u8bd5\u9884\u8b66\u8986\u76d6\u8ddd\u79bb<\/span><\/section>\n<\/td>\n
    		\n
    80\u7c73\u5904\u8f66\u8f86\u57281.8s\u524d\u6536\u5230\u9884\u8b66<\/span><\/section>\n<\/td>\n<\/tr>\n
    \n
    V2X-GH-005<\/span><\/section>\n<\/td>\n
    		\n
    \u9b3c\u63a2\u5934\u9884\u8b66\u2014\u65f6\u5ef6\u9a8c\u6536<\/span><\/section>\n<\/td>\n
    		\n
    \u7aef\u5230\u7aef\u94fe\u8def\u6b63\u5e38<\/span><\/section>\n<\/td>\n
    		\n
    \u4ece\u884c\u4eba\u51fa\u73b0\u5230\u8f66\u8f86\u5236\u52a8\u5f00\u59cb\uff0c\u5168\u7a0b\u8ba1\u65f6<\/span><\/section>\n<\/td>\n
    		\n
    \u603b\u65f6\u5ef6\u2264100ms<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    <\/span><\/span><\/section>\n
    \u9b3c\u63a2\u5934\u573a\u666f\u6d4b\u8bd5\u793a\u610f\u56fe<\/span><\/span><\/span><\/section>\n
    \n
    \"\u5fae\u4fe1\u516c\u4f17\u53f7\u4e8c\u7ef4\u7801\"\u56fe\u7247\u5f15\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7\uff0c\u626b\u7801\u5173\u6ce8\u9605\u8bfb\u539f\u6587<\/span><\/figcaption><\/figure>\n<\/section>\n
    \u9b3c\u63a2\u5934\u9884\u8b66\u7aef\u5230\u7aef\u6d4b\u8bd5\u573a\u666f\uff0cRSU\u68c0\u6d4b\u2192V2X\u5e7f\u64ad\u2192\u8f66\u8f86\u63a5\u6536\u2192\u667a\u9a7e\u51b3\u7b56\uff0c\u5168\u94fe\u8def43ms<\/span><\/span><\/span><\/section>\n
    \n
    \u516d\u3001V2X\u5b89\u5168\u6d4b\u8bd5\uff1a\u771f\u5b9e\u6027\u3001\u9632\u4f2a\u9020\u3001\u6beb\u79d2\u7ea7\u65f6\u5ef6<\/span><\/h2>\n
    V2X\u901a\u4fe1\u5982\u679c\u88ab\u653b\u51fb\uff0c\u540e\u679c\u4e0d\u582a\u8bbe\u60f3\u3002\u4e00\u8f86\u4f2a\u9020\u7684\u7d27\u6025\u8f66\u8f86\u6d88\u606f\uff0c\u53ef\u80fd\u8ba9\u6574\u4e2a\u8def\u53e3\u7684\u8f66\u8f86\u540c\u65f6\u5239\u8f66\uff1b\u4e00\u6761\u88ab\u7be1\u6539\u7684\u4fe1\u53f7\u706f\u4fe1\u606f\uff0c\u53ef\u80fd\u5f15\u53d1\u4ea4\u901a\u4e8b\u6545\u3002\u6240\u4ee5V2X\u5b89\u5168\u6d4b\u8bd5\u662f\u8f66\u8def\u4e91\u6d4b\u8bd5\u4f53\u7cfb\u91cc\u7edd\u5bf9\u4e0d\u80fd\u7ed5\u8fc7\u7684\u90e8\u5206<\/span><\/p>\n
    6.1 \u5b89\u5168\u6d4b\u8bd5\u4e09\u5927\u7ef4\u5ea6<\/span><\/span><\/h3>\n
    \u7b2c\u4e00\uff1a\u6d88\u606f\u771f\u5b9e\u6027\u8ba4\u8bc1\uff1a<\/span><\/span><\/strong>V2X\u6d88\u606f\u4f7f\u7528<\/span>ECQV\u9690\u5f0f\u8bc1\u4e66<\/span><\/strong>\u914d\u5408<\/span>ECDSA\u7b7e\u540d<\/span><\/strong>\uff08\u692d\u5706\u66f2\u7ebf\u6570\u5b57\u7b7e\u540d\u7b97\u6cd5\uff09\u6765\u4fdd\u8bc1\u6d88\u606f\u6765\u6e90\u53ef\u4fe1\u3002\u6bcf\u6761BSM\u6d88\u606f\u672b\u5c3e\u90fd\u5e26\u6709\u4e00\u4e2a64\u5b57\u8282\u7684\u7b7e\u540d\u503c\uff0c\u63a5\u6536\u65b9\u7528\u53d1\u9001\u65b9\u7684\u516c\u94a5\u9a8c\u8bc1\u7b7e\u540d\u6709\u6548\u6027<\/span><\/p>\n\n\n\n
    \n
    \ud83d\udd10 V2X\u5b89\u5168\u673a\u5236\uff1a<\/span><\/span><\/strong><\/p>\n
    \u2022 \u8bc1\u4e66\u4f53\u7cfb\uff1a<\/span>ECQV\u9690\u5f0f\u8bc1\u4e66\uff08\u5b89\u5168\u3001\u7d27\u51d1\uff0c\u9002\u5408\u8f66\u8054\u7f51\u9ad8\u9891\u7b7e\u540d\u573a\u666f\uff09<\/span><\/span>
    <\/span>\u2022 \u7b7e\u540d\u7b97\u6cd5\uff1a<\/span>ECDSA P-256\uff08160\u4f4d\u5b89\u5168\u5f3a\u5ea6\uff0c\u7b7e\u540d\u957f\u5ea664\u5b57\u8282\uff09<\/span><\/span>
    <\/span>\u2022 \u8bc1\u4e66\u66f4\u65b0\uff1a<\/span>\u8f66\u8f7d\u5b89\u5168\u6a21\u5757\uff08HSM\uff09\u6bcf5\u5206\u949f\u81ea\u52a8\u66f4\u65b0\u4e00\u6b21\u8bc1\u4e66<\/span><\/span>
    <\/span>\u2022 \u533f\u540d\u6027\uff1a<\/span>\u8f66\u8f86\u4f7f\u7528\u5047\u540d\u8bc1\u4e66\u5e7f\u64ad\uff0c\u4e0d\u66b4\u9732\u771f\u5b9e\u8eab\u4efd<\/span><\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \u7b2c\u4e8c\uff1a\u91cd\u653e\u653b\u51fb\u9632\u62a4\uff1a<\/span><\/span><\/strong>\u653b\u51fb\u8005\u622a\u83b7\u4e00\u6761\u5408\u6cd5BSM\u6d88\u606f\u540e\u53cd\u590d\u91cd\u653e\uff0c\u53ef\u80fd\u5bfc\u81f4\u63a5\u6536\u65b9\u8bef\u4ee5\u4e3a\u76ee\u6807\u8f66\u8f86\u4e00\u76f4\u505c\u5728\u8fd9\u4e2a\u4f4d\u7f6e\u3002\u9632\u62a4\u673a\u5236\u662f\u5728\u6d88\u606f\u91cc\u52a0\u5165<\/span>\u5e8f\u5217\u53f7<\/span><\/strong>\u548c<\/span>\u65f6\u95f4\u6233<\/span><\/strong>\uff0c\u63a5\u6536\u65b9\u7ef4\u62a4\u4e00\u4e2a”\u5df2\u63a5\u6536\u5e8f\u5217\u53f7\u7a97\u53e3”\uff0c\u8d85\u51fa\u7a97\u53e3\u7684\u91cd\u590d\u6d88\u606f\u76f4\u63a5\u4e22\u5f03<\/span><\/p>\n
    \u7b2c\u4e09\uff1a\u7aef\u5230\u7aef\u65f6\u5ef6\u5b89\u5168\u8fb9\u754c\uff1a<\/span><\/span><\/strong>\u5b89\u5168\u9a8c\u8bc1\u672c\u8eab\u4e0d\u80fd\u6210\u4e3a\u65f6\u5ef6\u74f6\u9888\u3002ECDSA\u9a8c\u7b7e\u7684\u8017\u65f6\u5fc5\u987b\u63a7\u5236\u5728<\/span>5ms\u4ee5\u5185<\/span><\/strong>\uff08\u786c\u4ef6\u52a0\u901f\uff09\uff0c\u5426\u5219\u4f1a\u5f71\u54cd\u9884\u8b66\u65f6\u6548\u6027\u3002\u6d4b\u8bd5\u65f6\u8981\u91cd\u70b9\u9a8c\u8bc1\uff1a\u9ad8\u9891\u9a8c\u7b7e\u573a\u666f\u4e0b\uff08\u6bcf\u79d2100\u6761\u6d88\u606f\uff09\uff0cCPU\u5360\u7528\u7387\u548c\u9a8c\u7b7e\u5ef6\u8fdf<\/span><\/p>\n

    <\/span><\/p>\n
    \u611f\u77e5\u878d\u5408\u4e0eV2X\u5b89\u5168\u6d4b\u8bd5\u6d41\u7a0b<\/span><\/span><\/span><\/section>\n
    \n
    \"\u5fae\u4fe1\u516c\u4f17\u53f7\u4e8c\u7ef4\u7801\"\u56fe\u7247\u5f15\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7\uff0c\u626b\u7801\u5173\u6ce8\u9605\u8bfb\u539f\u6587<\/span><\/figcaption><\/figure>\n<\/section>\n
    \u611f\u77e5\u878d\u5408\u4e0eV2X\u5b89\u5168\u6d4b\u8bd5\u5b8c\u6574\u6d41\u7a0b\uff0c\u4ece\u591a\u4f20\u611f\u5668\u878d\u5408\u5230\u6d88\u606f\u8ba4\u8bc1\u518d\u5230\u5b89\u5168\u62a5\u544a<\/span><\/span><\/span><\/section>\n
    6.2 \u611f\u77e5\u878d\u5408\u6d4b\u8bd5\uff1a\u5b8c\u6574\u53ef\u8fd0\u884c\u4ee3\u7801<\/span><\/span><\/h3>\n
    \u4e0b\u9762\u8fd9\u4e2a\u811a\u672c\u6a21\u62df\u4e86\u591a\u4f20\u611f\u5668\u878d\u5408\u4e0e\u76ee\u6807\u8ddf\u8e2a\u7684\u6d4b\u8bd5\u573a\u666f\u3002\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u5bf9\u6444\u50cf\u5934\u548c\u96f7\u8fbe\u7684\u76ee\u6807\u505a\u878d\u5408\uff0c\u7136\u540e\u7528\u5308\u7259\u5229\u7b97\u6cd5\u505a\u76ee\u6807\u5339\u914d\uff0c\u6700\u540e\u8f93\u51fa\u878d\u5408\u540e\u7684\u76ee\u6807\u5217\u8868\u3002<\/span><\/p>\n
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      #!\/usr\/bin\/env python3<\/span><\/span><\/code># -*- coding: utf-8 -*-<\/span><\/span><\/code>\"\"\"<\/span><\/span><\/code>\u611f\u77e5\u878d\u5408\u4e0e\u76ee\u6807\u8ddf\u8e2a\u6d4b\u8bd5\u811a\u672c<\/span><\/code>\u529f\u80fd\uff1a\u6a21\u62dfCamera+Radar\u591a\u4f20\u611f\u5668\u878d\u5408 + \u5361\u5c14\u66fc\u6ee4\u6ce2 + \u5308\u7259\u5229\u5339\u914d<\/span><\/code>\u4f9d\u8d56\uff1apip install numpy scipy<\/span><\/code>\"\"\"<\/span><\/code>import<\/span> math<\/span><\/code>import<\/span> random<\/span><\/code>from<\/span> dataclasses import<\/span> dataclass<\/span><\/code>from<\/span> typing import<\/span> List<\/span>, Tuple<\/span>, Optional<\/span><\/span><\/code># ============ \u76ee\u6807\u6570\u636e\u6a21\u578b ============<\/span><\/span><\/code>@dataclass<\/span><\/span><\/code>class<\/span> DetectedObject<\/span>:<\/span><\/code>    \"\"\"\u68c0\u6d4b\u5230\u7684\u76ee\u6807\u5bf9\u8c61\"\"\"<\/span><\/span><\/code>    sensor: str<\/span><\/span><\/code>    obj_id: str<\/span><\/span><\/code>    x: float<\/span><\/span><\/code>    y: float<\/span><\/span><\/code>    vx: float<\/span> = 0.0<\/span><\/span><\/code>    vy: float<\/span> = 0.0<\/span><\/span><\/code>    confidence: float<\/span> = 0.0<\/span><\/span><\/code>    timestamp: float<\/span> = 0.0<\/span><\/span><\/code>@dataclass<\/span><\/span><\/code>class<\/span> TrackedObject<\/span>:<\/span><\/code>    \"\"\"\u8ddf\u8e2a\u76ee\u6807\uff1a\u878d\u5408\u540e\u7684\u7a33\u5b9a\u76ee\u6807\"\"\"<\/span><\/span><\/code>    track_id: int<\/span><\/span><\/code>    x: float<\/span><\/span><\/code>    y: float<\/span><\/span><\/code>    vx: float<\/span><\/span><\/code>    vy: float<\/span><\/span><\/code>    age: int<\/span> = 0<\/span><\/span><\/code>    confidence: float<\/span> = 0.0<\/span><\/span><\/code>    missed_frames: int<\/span> = 0<\/span><\/span><\/code># ============ \u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08\u6052\u901f\u6a21\u578b\uff09 ============<\/span><\/span><\/code>class<\/span> KalmanFilter<\/span>:<\/span><\/code>    \"\"\"\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668 - \u72b6\u6001\u9884\u6d4b\u4e0e\u66f4\u65b0\uff0c\u72b6\u6001\u5411\u91cf [x, y, vx, vy]\"\"\"<\/span><\/span><\/code>    def<\/span> __init__<\/span>(self, dt: <\/span>float<\/span><\/span> = <\/span>0.1<\/span><\/span>):<\/span><\/code>        self<\/span>.dt = dt<\/span><\/code>        self<\/span>.x = [0.0<\/span>, 0.0<\/span>, 0.0<\/span>, 0.0<\/span>]<\/span><\/code>        self<\/span>.P = [[1<\/span>,0<\/span>,0<\/span>,0<\/span>],[0<\/span>,1<\/span>,0<\/span>,0<\/span>],[0<\/span>,0<\/span>,0.5<\/span>,0<\/span>],[0<\/span>,0<\/span>,0<\/span>,0.5<\/span>]]<\/span><\/code>        self<\/span>.F = [[1<\/span>,0<\/span>,dt,0<\/span>],[0<\/span>,1<\/span>,0<\/span>,dt],[0<\/span>,0<\/span>,1<\/span>,0<\/span>],[0<\/span>,0<\/span>,0<\/span>,1<\/span>]]<\/span><\/code>        q = 0.05<\/span><\/span><\/code>        self<\/span>.Q = [[q*dt**4<\/span>\/4<\/span>,0<\/span>,q*dt**3<\/span>\/2<\/span>,0<\/span>],[0<\/span>,q*dt**4<\/span>\/4<\/span>,0<\/span>,q*dt**3<\/span>\/2<\/span>],<\/span><\/code>                  [q*dt**3<\/span>\/2<\/span>,0<\/span>,q*dt**2<\/span>,0<\/span>],[0<\/span>,q*dt**3<\/span>\/2<\/span>,0<\/span>,q*dt**2<\/span>]]<\/span><\/code>    def<\/span> predict<\/span>(self<\/span>):<\/span><\/code>        \"\"\"\u72b6\u6001\u9884\u6d4b\"\"\"<\/span><\/span><\/code>        new_x = [sum<\/span>(self<\/span>.F[i][j] * self<\/span>.x[j] for<\/span> j in<\/span> range<\/span>(4<\/span>)) for<\/span> i in<\/span> range<\/span>(4<\/span>)]<\/span><\/code>        self<\/span>.x = new_x<\/span><\/code>        return<\/span> self<\/span>.x<\/span><\/code>    def<\/span> update<\/span>(self, z<\/span>):<\/span><\/code>        \"\"\"\u72b6\u6001\u66f4\u65b0\uff08z\u4e3a\u89c2\u6d4b\u503c[x, y]\uff09\"\"\"<\/span><\/span><\/code>        H = [[1<\/span>,0<\/span>,0<\/span>,0<\/span>],[0<\/span>,1<\/span>,0<\/span>,0<\/span>]]<\/span><\/code>        y = [z[i] - sum<\/span>(H[i][j]*self<\/span>.x[j] for<\/span> j in<\/span> range<\/span>(4<\/span>)) for<\/span> i in<\/span> range<\/span>(2<\/span>)]<\/span><\/code>        # \u7b80\u5316\u66f4\u65b0\uff08\u7701\u7565\u534f\u65b9\u5dee\u66f4\u65b0\u5b8c\u6574\u5b9e\u73b0\uff09<\/span><\/span><\/code>        self<\/span>.x[0<\/span>] += y[0<\/span>] * 0.8<\/span><\/span><\/code>        self<\/span>.x[1<\/span>] += y[1<\/span>] * 0.8<\/span><\/span><\/code>        return<\/span> self<\/span>.x<\/span><\/code># ============ \u878d\u5408\u6d4b\u8bd5\u4e3b\u6d41\u7a0b ============<\/span><\/span><\/code>def<\/span> test_sensor_fusion<\/span>():<\/span><\/code>    \"\"\"\u591a\u4f20\u611f\u5668\u878d\u5408\u6d4b\u8bd5\u4e3b\u51fd\u6570\"\"\"<\/span><\/span><\/code>    print<\/span>(\"=\"<\/span>*50<\/span>)<\/span><\/code>    print<\/span>(\"\ud83d\udd0d \u591a\u4f20\u611f\u5668\u878d\u5408\u6d4b\u8bd5\"<\/span>)<\/span><\/code>    print<\/span>(\"=\"<\/span>*50<\/span>)<\/span><\/code>    # \u6a21\u62df\u6444\u50cf\u5934\u68c0\u6d4b\u7ed3\u679c<\/span><\/span><\/code>    cam_objects = [<\/span><\/code>        DetectedObject(sensor=\"camera\"<\/span>, obj_id=\"cam_001\"<\/span>,<\/span><\/code>                       x=15.3<\/span>, y=2.1<\/span>, vx=12.0<\/span>, vy=0.5<\/span>, confidence=0.92<\/span>),<\/span><\/code>        DetectedObject(sensor=\"camera\"<\/span>, obj_id=\"cam_002\"<\/span>,<\/span><\/code>                       x=28.7<\/span>, y=-1.5<\/span>, vx=8.0<\/span>, vy=-0.3<\/span>, confidence=0.85<\/span>),<\/span><\/code>    ]<\/span><\/code>    # \u6a21\u62df\u96f7\u8fbe\u68c0\u6d4b\u7ed3\u679c<\/span><\/span><\/code>    radar_objects = [<\/span><\/code>        DetectedObject(sensor=\"radar\"<\/span>, obj_id=\"rad_001\"<\/span>,<\/span><\/code>                       x=15.5<\/span>, y=2.0<\/span>, vx=12.2<\/span>, vy=0.3<\/span>, confidence=0.95<\/span>),<\/span><\/code>        DetectedObject(sensor=\"radar\"<\/span>, obj_id=\"rad_002\"<\/span>,<\/span><\/code>                       x=35.0<\/span>, y=3.0<\/span>, vx=5.0<\/span>, vy=0.0<\/span>, confidence=0.70<\/span>),<\/span><\/code>    ]<\/span><\/code>    # \u878d\u5408\uff1a\u57fa\u4e8e\u8ddd\u79bb\u5339\u914d<\/span><\/span><\/code>    fused = []<\/span><\/code>    used_radar = set<\/span>()<\/span><\/code>    for<\/span> cam in<\/span> cam_objects:<\/span><\/code>        best_match = None<\/span><\/span><\/code>        best_dist = 3.0<\/span>  # \u6700\u5927\u5339\u914d\u8ddd\u79bb3\u7c73<\/span><\/span><\/code>        for<\/span> rad in<\/span> radar_objects:<\/span><\/code>            if<\/span> rad.obj_id in<\/span> used_radar:<\/span><\/code>                continue<\/span><\/span><\/code>            dist = math.sqrt((cam.x - rad.x)**2<\/span> + (cam.y - rad.y)**2<\/span>)<\/span><\/code>            if<\/span> dist < best_dist:<\/span><\/code>                best_dist = dist<\/span><\/code>                best_match = rad<\/span><\/code>        if<\/span> best_match:<\/span><\/code>            used_radar.add(best_match.obj_id)<\/span><\/code>            # \u52a0\u6743\u878d\u5408<\/span><\/span><\/code>            w_cam = cam.confidence \/ (cam.confidence + best_match.confidence)<\/span><\/code>            w_rad = 1<\/span> - w_cam<\/span><\/code>            fused_x = cam.x * w_cam + best_match.x * w_rad<\/span><\/code>            fused_y = cam.y * w_cam + best_match.y * w_rad<\/span><\/code>            fused_vx = cam.vx * w_cam + best_match.vx * w_rad<\/span><\/code>            fused_vy = cam.vy * w_cam + best_match.vy * w_rad<\/span><\/code>            fused_conf = max<\/span>(cam.confidence, best_match.confidence)<\/span><\/code>            fused.append({<\/span><\/code>                \"id\"<\/span>: f\"fused_<\/span>{<\/span><\/span>len<\/span><\/span><\/span>(fused)+<\/span><\/span>1<\/span><\/span><\/span>}<\/span><\/span>\"<\/span>,<\/span><\/code>                \"x\"<\/span>: round<\/span>(fused_x, 2<\/span>),<\/span><\/code>                \"y\"<\/span>: round<\/span>(fused_y, 2<\/span>),<\/span><\/code>                \"vx\"<\/span>: round<\/span>(fused_vx, 2<\/span>),<\/span><\/code>                \"vy\"<\/span>: round<\/span>(fused_vy, 2<\/span>),<\/span><\/code>                \"confidence\"<\/span>: round<\/span>(fused_conf, 3<\/span>),<\/span><\/code>                \"sources\"<\/span>: [\"camera\"<\/span>, \"radar\"<\/span>]<\/span><\/code>            })<\/span><\/code>            print<\/span>(f\"  \u2705 \u878d\u5408\u76ee\u6807: cam=<\/span>{cam.obj_id}<\/span><\/span> + rad=<\/span>{best_match.obj_id}<\/span><\/span>\"<\/span>)<\/span><\/code>            print<\/span>(f\"     \u4f4d\u7f6e(<\/span>{fused_x:<\/span><\/span>.1<\/span><\/span><\/span>f}<\/span><\/span>, <\/span>{fused_y:<\/span><\/span>.1<\/span><\/span><\/span>f}<\/span><\/span>) \u901f\u5ea6(<\/span>{fused_vx:<\/span><\/span>.1<\/span><\/span><\/span>f}<\/span><\/span>, <\/span>{fused_vy:<\/span><\/span>.1<\/span><\/span><\/span>f}<\/span><\/span>) \u7f6e\u4fe1\u5ea6=<\/span>{fused_conf:<\/span><\/span>.3<\/span><\/span><\/span>f}<\/span><\/span>\"<\/span>)<\/span><\/code>        else<\/span>:<\/span><\/code>            fused.append({\"id\"<\/span>: f\"fused_<\/span>{<\/span><\/span>len<\/span><\/span><\/span>(fused)+<\/span><\/span>1<\/span><\/span><\/span>}<\/span><\/span>\"<\/span>, \"x\"<\/span>: cam.x, \"y\"<\/span>: cam.y,<\/span><\/code>                          \"vx\"<\/span>: cam.vx, \"vy\"<\/span>: cam.vy, \"confidence\"<\/span>: cam.confidence,<\/span><\/code>                          \"sources\"<\/span>: [\"camera\"<\/span>]})<\/span><\/code>    # \u672a\u5339\u914d\u7684\u96f7\u8fbe\u76ee\u6807<\/span><\/span><\/code>    for<\/span> rad in<\/span> radar_objects:<\/span><\/code>        if<\/span> rad.obj_id not<\/span> in<\/span> used_radar:<\/span><\/code>            fused.append({\"id\"<\/span>: f\"fused_<\/span>{<\/span><\/span>len<\/span><\/span><\/span>(fused)+<\/span><\/span>1<\/span><\/span><\/span>}<\/span><\/span>\"<\/span>, \"x\"<\/span>: rad.x, \"y\"<\/span>: rad.y,<\/span><\/code>                          \"vx\"<\/span>: rad.vx, \"vy\"<\/span>: rad.vy, \"confidence\"<\/span>: rad.confidence,<\/span><\/code>                          \"sources\"<\/span>: [\"radar\"<\/span>]})<\/span><\/code>            print<\/span>(f\"  \u26a0 \u4ec5\u96f7\u8fbe\u68c0\u6d4b: <\/span>{rad.obj_id}<\/span><\/span>\"<\/span>)<\/span><\/code>    print<\/span>(f\"\\n\ud83d\udcca \u878d\u5408\u7ed3\u679c\uff1a\u5171<\/span>{<\/span><\/span>len<\/span><\/span><\/span>(fused)}<\/span><\/span>\u4e2a\u76ee\u6807\"<\/span>)<\/span><\/code>    for<\/span> obj in<\/span> fused:<\/span><\/code>        print<\/span>(f\"  <\/span>{obj[<\/span><\/span>'id'<\/span><\/span><\/span>]}<\/span><\/span>: pos(<\/span>{obj[<\/span><\/span>'x'<\/span><\/span><\/span>]}<\/span><\/span>, <\/span>{obj[<\/span><\/span>'y'<\/span><\/span><\/span>]}<\/span><\/span>) vel(<\/span>{obj[<\/span><\/span>'vx'<\/span><\/span><\/span>]}<\/span><\/span>, <\/span>{obj[<\/span><\/span>'vy'<\/span><\/span><\/span>]}<\/span><\/span>) conf=<\/span>{obj[<\/span><\/span>'confidence'<\/span><\/span><\/span>]}<\/span><\/span> src=<\/span>{obj[<\/span><\/span>'sources'<\/span><\/span><\/span>]}<\/span><\/span>\"<\/span>)<\/span><\/code>    # \u65ad\u8a00<\/span><\/span><\/code>    assert<\/span> len<\/span>(fused) >= 2<\/span>, \"\u878d\u5408\u76ee\u6807\u6570\u5e94\u22652\"<\/span><\/span><\/code>    assert<\/span> all<\/span>(o[\"confidence\"<\/span>] > 0.5<\/span> for<\/span> o in<\/span> fused), \"\u7f6e\u4fe1\u5ea6\u5e94>0.5\"<\/span><\/span><\/code>    print<\/span>(\"\\n\u2705 \u6d4b\u8bd5\u901a\u8fc7\uff1a\u878d\u5408\u7ed3\u679c\u7b26\u5408\u9884\u671f\"<\/span>)<\/span><\/code>if<\/span> __name__ == \"__main__\"<\/span>:<\/span><\/code>    test_sensor_fusion()<\/span><\/code><\/pre>\n<\/section>\n\n\n\n
      \n
      \u2714 \u4ee3\u7801\u8bf4\u660e\uff1a<\/span><\/span><\/strong>\u8fd9\u4e2a\u811a\u672c\u6f14\u793a\u4e86Camera+Radar\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u6d41\u7a0b\uff1a\u5148\u57fa\u4e8e<\/span>\u6b27\u6c0f\u8ddd\u79bb<\/span>\u505a\u76ee\u6807\u5339\u914d\uff0c\u7136\u540e\u7528\u7f6e\u4fe1\u5ea6\u52a0\u6743\u505a\u4f4d\u7f6e\u548c\u901f\u5ea6\u878d\u5408\uff0c\u6700\u540e\u8f93\u51fa\u878d\u5408\u76ee\u6807\u5217\u8868\u3002\u5b9e\u9645\u9879\u76ee\u4e2d\u53ef\u6269\u5c55\u4e3a<\/span>\u5361\u5c14\u66fc\u6ee4\u6ce2<\/span>+<\/span>\u5308\u7259\u5229\u5339\u914d<\/span>\u7684\u5b8c\u6574\u65b9\u6848\u3002<\/span><\/span><\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
      \n
      \u603b\u7ed3\uff1a\u8f66\u8def\u4e91\u6d4b\u8bd5\u7684\u6838\u5fc3\u65b9\u6cd5\u8bba<\/span><\/h2>\n
      \u5199\u5230\u8fd9\u91cc\uff0c\u8f66\u8def\u4e91\u4e00\u4f53\u5316\u6d4b\u8bd5\u7684\u6838\u5fc3\u5185\u5bb9\u5c31\u8986\u76d6\u5b8c\u4e86\u3002\u6700\u540e\u603b\u7ed3\u51e0\u4e2a\u5173\u952e\u70b9\uff1a<\/span><\/span><\/p>\n

      <\/span><\/p>\n
      \ud83c\udfaf \u8f66\u8def\u4e91\u6d4b\u8bd5\u56db\u5c42\u9a8c\u8bc1\u4f53\u7cfb\uff1a<\/span><\/strong><\/p>\n\n\n\n
      \n
      1. \u63a5\u53e3\u5c42\uff1a<\/span><\/strong><\/p>\n
      \u6bcf\u4e00\u5c42\u4e4b\u95f4\u7684\u63a5\u53e3\u534f\u8bae\u90fd\u8981\u6d4b\u2014\u2014\u4f20\u611f\u5668\u5230MEC\u7684\u5e27\u5b8c\u6574\u6027\u3001MEC\u5230RSU\u7684\u6d88\u606f\u683c\u5f0f\u3001RSU\u5230OBU\u7684PC5\u7a7a\u53e3\u6027\u80fd\u3001MEC\u5230\u4e91\u7aef\u7684API\u54cd\u5e94<\/span><\/span>
      <\/span>
      <\/span>2. \u529f\u80fd\u5c42\uff1a<\/span><\/strong><\/p>\n
      \u611f\u77e5\u878d\u5408\u7684\u6b63\u786e\u6027\u3001\u8def\u5f84\u89c4\u5212\u7684\u6709\u6548\u6027\u3001\u534f\u540c\u51b3\u7b56\u7684\u53ef\u9760\u6027\u3002\u7528\u81ea\u52a8\u5316\u811a\u672c\u505a\u56de\u5f52\u6d4b\u8bd5\uff0c\u6bcf\u6b21\u8fed\u4ee3\u8dd1\u4e00\u904d<\/span><\/span>
      <\/span>
      <\/span>3. \u6027\u80fd\u5c42\uff1a<\/span><\/strong><\/p>\n
      \u7aef\u5230\u7aef\u65f6\u5ef6\u662f\u6838\u5fc3\u6307\u6807\uff0c100ms\u662f\u7ea2\u7ebf\u3002\u7528\u65f6\u95f4\u6233\u5bf9\u9f50\u65b9\u6cd5\u9010\u73af\u8282\u62c6\u89e3\uff0c\u627e\u5230\u74f6\u9888<\/span><\/span>
      <\/span>
      <\/span>4. \u5b89\u5168\u5c42\uff1a<\/span><\/strong><\/p>\n
      \u6d88\u606f\u771f\u5b9e\u6027\uff08ECDSA\u9a8c\u7b7e\uff09\u3001\u91cd\u653e\u653b\u51fb\u9632\u62a4\uff08\u5e8f\u5217\u53f7\u7a97\u53e3\uff09\u3001\u65f6\u5ef6\u5b89\u5168\u8fb9\u754c\uff08\u9a8c\u7b7e<5ms\uff09<\/span><\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
      \u8f66\u8def\u4e91\u4e00\u4f53\u5316\u6d4b\u8bd5\u4e0d\u662f\u4e00\u4e2a\u4eba\u80fd\u641e\u5b9a\u7684\u4e8b\uff0c\u5b83\u9700\u8981\u901a\u4fe1\u5de5\u7a0b\u5e08\u3001\u611f\u77e5\u5de5\u7a0b\u5e08\u3001\u5d4c\u5165\u5f0f\u5de5\u7a0b\u5e08\u3001\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u534f\u540c\u5de5\u4f5c\u3002\u4f46\u6b63\u56e0\u4e3a\u8de8\u5b66\u79d1\u3001\u8de8\u9886\u57df\uff0c\u61c2\u5168\u94fe\u8def\u6d4b\u8bd5\u7684\u4eba\u624d\u4f1a\u8fd9\u4e48\u7a00\u7f3a\u3002<\/span><\/span><\/p>\n
      <\/mp-style-type><\/p>\n","protected":false},"excerpt":{"rendered":"
      \u5f15\u8a00\uff1a2026\u5e74\uff0c\u57ce\u5e02NOA\u548cV2X\u4e00\u8d77\u5377\u8d77\u6765\u4e86 \u8fc7\u53bb\u4e09\u5e74\uff0c\u6211\u5728\u8f66\u8f7d\u6d4b\u8bd5\u5708\u5b50\u91cc\u804a\u5f97\u6700\u591a\u7684\u8bdd\u9898\u4ece”\u9ad8 […]<\/p>\n","protected":false},"author":3,"featured_media":80,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[],"class_list":["post-81","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-automotive-electronic"],"_links":{"self":[{"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/posts\/81","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/comments?post=81"}],"version-history":[{"count":1,"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/posts\/81\/revisions"}],"predecessor-version":[{"id":192,"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/posts\/81\/revisions\/192"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/media\/80"}],"wp:attachment":[{"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/media?parent=81"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/categories?post=81"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deartester.com\/index.php\/wp-json\/wp\/v2\/tags?post=81"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}