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struct 结构体名称{ 数据类型 A; 数据类型 B; }结构体变量名; 相当于: struct 结构体名称{ 数据类型 A; 数据类型 B; }; struct 结构体名称 结构体变量名; 这种方式既定义了结构体名称,同时声明了一个结构体变量名。在其它地方也可以通过struct 结构体来再次声 阅读全文
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Designing cost functions is difficult and getting them all to cooperate to produce reasionable vehicle behavior is hard. some of the difficulties asso 阅读全文
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n most situations, a single cost function will not be sufficient to produce complex vehicle behavior. In this quiz, we'd like you to implement one mor 阅读全文
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In the previous quizzes, you designed a cost function to choose a lane when trying to reach a goal in highway driving: cost=1−e−∣Δd∣/Δs Here, 阅读全文
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In the image above, the blue self driving car (bottom left) is trying to get to the goal (gold star). It's currently in the correct lane but the green 阅读全文
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A key part of getting transitions to happen when we want them to is the design of reasonable cost functions. we want to penalize and reward the right 阅读全文
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One way to implement a transition function is by generating rough trajectories for each accessible "next state" and then finding the best. To "find th 阅读全文
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the answer is that we have to pass all of the data into transition function except for the previous state. 阅读全文
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现在你已经明白如何整合测量, 如何整合运动,完成了一维卡尔曼滤波,不过在现实中我们经常遇到多维的情况。 这就涉及到很多因素,举例,并说明为什么在较多纬度状态空间中估测很重要。 假设你有一个x和y的二维空间-比如一幅摄像头图像,或者在我们的例子中 我们可能采用一辆载有雷达的汽车来检测 车辆随着时间变化 阅读全文
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我们写一个主程序,包括两个函数更新函数和预测函数,然后导入一系列测量和运动数据。 如果初始估计是5,非常好,但我们将其设置为mu=0,且不确定性非常高为sig=10000. 我们假设测量不确定性为常量4,运动不确定性为2. 运动时 你的第一次位置估计应该是4.9.原因在于初始不确定性高,第一次测量值 阅读全文