{"id":34477,"date":"2025-07-31T12:36:21","date_gmt":"2025-07-31T04:36:21","guid":{"rendered":"https:\/\/www.kdjingpai.com\/?p=34477"},"modified":"2025-07-31T12:36:21","modified_gmt":"2025-07-31T04:36:21","slug":"carla","status":"publish","type":"post","link":"https:\/\/www.kdjingpai.com\/de\/carla\/","title":{"rendered":"CARLA\uff1a\u5f00\u6e90\u7684\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u6a21\u62df\u5668"},"content":{"rendered":"<p>CARLA \u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u6a21\u62df\u5668\uff0c\u57fa\u4e8e Unreal Engine \u5f00\u53d1\u3002\u5b83\u4e3a\u7814\u7a76\u4eba\u5458\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7075\u6d3b\u7684\u5e73\u53f0\uff0c\u7528\u4e8e\u5f00\u53d1\u3001\u8bad\u7ec3\u548c\u9a8c\u8bc1\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3002CARLA \u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\u6a21\u62df\uff0c\u5982\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u548c\u96f7\u8fbe\uff0c\u5e76\u63d0\u4f9b\u4e30\u5bcc\u7684\u57ce\u5e02\u5730\u56fe\u3001\u8f66\u8f86\u548c\u884c\u4eba\u7b49\u6570\u5b57\u8d44\u4ea7\u3002\u7528\u6237\u53ef\u4ee5\u901a\u8fc7 Python API \u6216 C++ \u63a7\u5236\u4eff\u771f\u73af\u5883\uff0c\u8c03\u6574\u5929\u6c14\u3001\u4ea4\u901a\u548c\u573a\u666f\u7b49\u6761\u4ef6\u3002CARLA \u7684\u8bbe\u8ba1\u76ee\u6807\u662f\u652f\u6301\u590d\u6742\u4ea4\u901a\u573a\u666f\u7684\u6d4b\u8bd5\u548c\u591a\u667a\u80fd\u4f53\u4ea4\u4e92\u7814\u7a76\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u3002\u5b83\u7684\u5f00\u6e90\u7279\u6027\u8ba9\u7528\u6237\u53ef\u4ee5\u514d\u8d39\u4f7f\u7528\u5e76\u8d21\u732e\u4ee3\u7801\uff0c\u9002\u5408\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u5f00\u53d1\u548c\u6d4b\u8bd5\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-34478\" src=\"https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/07\/fa79168830fc056-scaled.webp\" alt=\"\" width=\"2560\" height=\"1522\" srcset=\"https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/07\/fa79168830fc056-scaled.webp 2560w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/07\/fa79168830fc056-1536x913.webp 1536w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/07\/fa79168830fc056-2048x1217.webp 2048w, https:\/\/www.kdjingpai.com\/wp-content\/uploads\/2025\/07\/fa79168830fc056-18x12.webp 18w\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\" \/><\/p>\n<p>&nbsp;<\/p>\n<h2>\u529f\u80fd\u5217\u8868<\/h2>\n<ul>\n<li><strong>\u4f20\u611f\u5668\u6a21\u62df<\/strong>\uff1a\u652f\u6301\u591a\u79cd\u4f20\u611f\u5668\uff0c\u5982 RGB \u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u96f7\u8fbe\u3001\u6df1\u5ea6\u4f20\u611f\u5668\u548c GPS\uff0c\u751f\u6210\u903c\u771f\u7684\u611f\u77e5\u6570\u636e\u3002<\/li>\n<li><strong>\u4ea4\u901a\u573a\u666f\u751f\u6210<\/strong>\uff1a\u63d0\u4f9b\u57ce\u5e02\u3001\u90ca\u533a\u3001\u9ad8\u901f\u516c\u8def\u7b49\u591a\u79cd\u5730\u56fe\uff0c\u652f\u6301\u52a8\u6001\u4ea4\u901a\u6d41\u548c\u884c\u4eba\u884c\u4e3a\u6a21\u62df\u3002<\/li>\n<li><strong>\u7075\u6d3b\u7684 API<\/strong>\uff1a\u901a\u8fc7 Python \u548c C++ API \u63a7\u5236\u4eff\u771f\u73af\u5883\uff0c\u5305\u62ec\u8f66\u8f86\u3001\u884c\u4eba\u3001\u5929\u6c14\u548c\u4ea4\u901a\u89c4\u5219\u3002<\/li>\n<li><strong>\u5730\u56fe\u7f16\u8f91<\/strong>\uff1a\u652f\u6301\u57fa\u4e8e ASAM OpenDRIVE \u6807\u51c6\u7684\u81ea\u5b9a\u4e49\u5730\u56fe\u521b\u5efa\uff0c\u53ef\u901a\u8fc7 RoadRunner \u7b49\u5de5\u5177\u751f\u6210\u3002<\/li>\n<li><strong>\u573a\u666f\u5f55\u5236\u4e0e\u56de\u653e<\/strong>\uff1a\u5141\u8bb8\u5f55\u5236\u4eff\u771f\u8fc7\u7a0b\u5e76\u7cbe\u786e\u56de\u653e\uff0c\u65b9\u4fbf\u6bd4\u8f83\u4e0d\u540c\u914d\u7f6e\u7684\u7ed3\u679c\u3002<\/li>\n<li><strong>\u591a\u5ba2\u6237\u7aef\u67b6\u6784<\/strong>\uff1a\u652f\u6301\u591a\u4e2a\u5ba2\u6237\u7aef\u540c\u65f6\u63a7\u5236\u4e0d\u540c\u667a\u80fd\u4f53\uff0c\u9002\u5408\u591a\u667a\u80fd\u4f53\u7814\u7a76\u3002<\/li>\n<li><strong>ROS \u96c6\u6210<\/strong>\uff1a\u901a\u8fc7 ROS \u6865\u63a5\u4e0e\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\u65e0\u7f1d\u8fde\u63a5\uff0c\u652f\u6301 AutoWare \u7b49\u6846\u67b6\u3002<\/li>\n<li><strong>\u4ea4\u901a\u7ba1\u7406<\/strong>\uff1a\u5185\u7f6e Traffic Manager \u63a7\u5236 NPC\uff08\u975e\u73a9\u5bb6\u89d2\u8272\uff09\u884c\u4e3a\uff0c\u6a21\u62df\u771f\u5b9e\u4ea4\u901a\u6311\u6218\u3002<\/li>\n<li><strong>\u7269\u7406\u6a21\u62df<\/strong>\uff1a\u96c6\u6210 Chrono \u5e93\uff0c\u652f\u6301\u9ad8\u7cbe\u5ea6\u7684\u8f66\u8f86\u52a8\u529b\u5b66\u548c\u591a\u4f53\u52a8\u529b\u5b66\u6a21\u62df\u3002<\/li>\n<\/ul>\n<h2>\u4f7f\u7528\u5e2e\u52a9<\/h2>\n<h3>\u5b89\u88c5\u6d41\u7a0b<\/h3>\n<p>\u8981\u5728\u672c\u5730\u4f7f\u7528 CARLA\uff0c\u7528\u6237\u9700\u8981\u5b89\u88c5\u5e76\u914d\u7f6e\u73af\u5883\u3002\u4ee5\u4e0b\u662f\u9488\u5bf9 Ubuntu \u7cfb\u7edf\u7684\u5b89\u88c5\u6b65\u9aa4\uff0cWindows \u7528\u6237\u53ef\u53c2\u8003\u5b98\u65b9\u6587\u6863\u3002<\/p>\n<ol>\n<li><strong>\u68c0\u67e5\u7cfb\u7edf\u8981\u6c42<\/strong><br \/>\nCARLA \u652f\u6301 Unreal Engine 4.26 \u6216 5.5 \u7248\u672c\u3002\u63a8\u8350\u786c\u4ef6\u914d\u7f6e\u4e3a Intel i7\/i9\uff089-11\u4ee3\uff09\u6216 AMD Ryzen 7\/9\uff0c\u663e\u5361\u9700\u652f\u6301 DirectX 11 \u6216\u4ee5\u4e0a\uff0c\u81f3\u5c11 16GB \u5185\u5b58\u548c 50GB \u78c1\u76d8\u7a7a\u95f4\u3002<\/li>\n<li><strong>\u4e0b\u8f7d CARLA<\/strong><br \/>\n\u7528\u6237\u53ef\u4ee5\u9009\u62e9\u4ece GitHub \u4e0b\u8f7d\u9884\u7f16\u8bd1\u5305\u6216\u6e90\u7801\u7f16\u8bd1\uff1a<\/p>\n<ul>\n<li><strong>\u9884\u7f16\u8bd1\u5305<\/strong>\uff1a\u8bbf\u95ee CARLA \u5b98\u7f51\uff08http:\/\/carla.org\uff09\u6216 GitHub \u53d1\u5e03\u9875\u9762\uff08https:\/\/github.com\/carla-simulator\/carla\/releases\uff09\uff0c\u4e0b\u8f7d\u6700\u65b0\u7248\u672c\uff08\u5982 0.9.15\uff09\u3002\u89e3\u538b\u540e\u5373\u53ef\u4f7f\u7528\u3002<\/li>\n<li><strong>\u6e90\u7801\u7f16\u8bd1<\/strong>\uff1a\u514b\u9686 GitHub \u4ed3\u5e93\uff1a\n<pre><code>git clone -b ue5-dev https:\/\/github.com\/carla-simulator\/carla.git CarlaUE5\r\n<\/code><\/pre>\n<p>\u9700\u8981\u5148\u5173\u8054 GitHub \u8d26\u6237\u4e0e Epic Games \u4ee5\u8bbf\u95ee Unreal Engine 5.5 \u4ed3\u5e93\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u5b89\u88c5\u4f9d\u8d56<\/strong><br \/>\n\u8fdb\u5165 CARLA \u6839\u76ee\u5f55\uff0c\u8fd0\u884c\u5b89\u88c5\u811a\u672c\uff1a<\/p>\n<pre><code>cd CarlaUE5\r\nsudo -E env GIT_LOCAL_CREDENTIALS=github_username@github_token .\/CarlaSetup.sh\r\n<\/code><\/pre>\n<p>\u811a\u672c\u4f1a\u81ea\u52a8\u4e0b\u8f7d Unreal Engine 5.5 \u548c\u4f9d\u8d56\u9879\uff0c\u53ef\u80fd\u9700\u8981\u8f93\u5165 GitHub \u51ed\u636e\u3002Windows \u7528\u6237\u9700\u4f7f\u7528 Visual Studio 2022 \u7684 x64 Native Tools \u547d\u4ee4\u63d0\u793a\u7b26\u8fd0\u884c\u7c7b\u4f3c\u547d\u4ee4\u3002<\/li>\n<li><strong>\u7f16\u8bd1 CARLA<\/strong><br \/>\n\u5728 CARLA \u6839\u76ee\u5f55\u8fd0\u884c\uff1a<\/p>\n<pre><code>cmake -G Ninja -S . -B Build --toolchain=$PWD\/CMake\/Toolchain.cmake -DCMAKE_BUILD_TYPE=Release -DENABLE_ROS2=ON\r\n<\/code><\/pre>\n<p>\u7f16\u8bd1\u5b8c\u6210\u540e\uff0c\u8fd0\u884c\u00a0<code>.\/CarlaUE4.sh<\/code>\u00a0\u542f\u52a8\u6a21\u62df\u5668\u3002<\/li>\n<li><strong>\u5b89\u88c5 Python \u5ba2\u6237\u7aef\u5e93<\/strong><br \/>\nCARLA \u63d0\u4f9b Python API\uff0c\u9700\u5b89\u88c5\u5ba2\u6237\u7aef\u5e93\uff1a<\/p>\n<pre><code>pip3 install carla\r\n<\/code><\/pre>\n<p>\u63a8\u8350\u5728\u865a\u62df\u73af\u5883\u4e2d\u5b89\u88c5\uff0c\u907f\u514d\u7248\u672c\u51b2\u7a81\u3002\u652f\u6301 Python 2.7\u30013.6\u30013.7 \u548c 3.8\u3002<\/li>\n<\/ol>\n<h3>\u4f7f\u7528\u4e3b\u8981\u529f\u80fd<\/h3>\n<ol>\n<li><strong>\u542f\u52a8\u6a21\u62df\u5668<\/strong><br \/>\n\u8fd0\u884c\u00a0<code>.\/CarlaUE4.sh -quality-level=epic<\/code>\uff08\u9ad8\u8d28\u91cf\uff09\u6216\u00a0<code>-quality-level=low<\/code>\uff08\u4f4e\u914d\u786c\u4ef6\uff09\u3002\u6a21\u62df\u5668\u542f\u52a8\u540e\u663e\u793a\u57ce\u5e02\u89c6\u89d2\uff0c\u7b49\u5f85\u5ba2\u6237\u7aef\u8fde\u63a5\u3002<\/li>\n<li><strong>\u8fd0\u884c\u793a\u4f8b\u811a\u672c<\/strong><br \/>\nCARLA \u63d0\u4f9b\u591a\u4e2a Python \u793a\u4f8b\u811a\u672c\uff0c\u4f4d\u4e8e\u00a0<code>PythonAPI\/examples<\/code>\u00a0\u76ee\u5f55\u3002\u4f8b\u5982\uff1a<\/p>\n<ul>\n<li><strong>\u751f\u6210\u4ea4\u901a<\/strong>\uff1a\u8fd0\u884c\u00a0<code>python3 generate_traffic.py<\/code>\uff0c\u5728\u6a21\u62df\u5668\u4e2d\u751f\u6210\u52a8\u6001\u8f66\u8f86\u548c\u884c\u4eba\u3002<\/li>\n<li><strong>\u624b\u52a8\u63a7\u5236<\/strong>\uff1a\u8fd0\u884c\u00a0<code>python3 manual_control.py<\/code>\uff0c\u901a\u8fc7\u952e\u76d8\u548c\u9f20\u6807\u63a7\u5236\u8f66\u8f86\uff0cWASD \u952e\u79fb\u52a8\uff0c\u9f20\u6807\u8c03\u6574\u89c6\u89d2\u3002<\/li>\n<li><strong>\u4f20\u611f\u5668\u6570\u636e\u91c7\u96c6<\/strong>\uff1a\u8fd0\u884c\u00a0<code>python3 03_RGB_camera.py<\/code>\uff0c\u4ece RGB \u6444\u50cf\u5934\u83b7\u53d6\u56fe\u50cf\u6570\u636e\u5e76\u4fdd\u5b58\u3002<\/li>\n<\/ul>\n<\/li>\n<li><strong>\u64cd\u4f5c Traffic Manager<\/strong><br \/>\nTraffic Manager \u63a7\u5236 NPC \u884c\u4e3a\u3002\u793a\u4f8b\uff1a<\/p>\n<pre><code>tm = client.get_trafficmanager()\r\ntm.set_desired_speed(vehicle, 30.0)  # \u8bbe\u7f6e\u8f66\u8f86\u901f\u5ea6\u4e3a 30 km\/h\r\ntm.set_percentage_random_left_lanechange(vehicle, 20.0)  # 20% \u6982\u7387\u968f\u673a\u5de6\u6362\u9053\r\n<\/code><\/pre>\n<p>\u53ef\u901a\u8fc7 API \u8bbe\u7f6e NPC \u7684\u901f\u5ea6\u3001\u6362\u9053\u884c\u4e3a\u7b49\u3002<\/li>\n<li><strong>\u81ea\u5b9a\u4e49\u5730\u56fe<\/strong><br \/>\n\u7528\u6237\u53ef\u901a\u8fc7 RoadRunner \u6216 OpenDRIVE \u521b\u5efa\u5730\u56fe\u3002\u5bfc\u5165\u5730\u56fe\u5230 CARLA\uff1a<\/p>\n<pre><code>python3 import_map.py --path \/path\/to\/your_map.xodr\r\n<\/code><\/pre>\n<p>\u7136\u540e\u5728\u6a21\u62df\u5668\u4e2d\u52a0\u8f7d\u65b0\u5730\u56fe\u3002<\/li>\n<li><strong>\u5f55\u5236\u4e0e\u56de\u653e<\/strong><br \/>\n\u542f\u52a8\u5f55\u5236\uff1a<\/p>\n<pre><code>client.start_recorder(\"recording01.log\")\r\n<\/code><\/pre>\n<p>\u56de\u653e\u5f55\u5236\uff1a<\/p>\n<pre><code>client.replay_file(\"recording01.log\", start_time=0.0, duration=60.0)\r\n<\/code><\/pre>\n<\/li>\n<li><strong>ROS \u96c6\u6210<\/strong><br \/>\n\u5b89\u88c5 ROS \u6865\u63a5\uff08https:\/\/github.com\/carla-simulator\/ros-bridge\uff09\uff1a<\/p>\n<pre><code>git clone https:\/\/github.com\/carla-simulator\/ros-bridge.git\r\n<\/code><\/pre>\n<p>\u542f\u52a8 ROS \u8282\u70b9\u540e\uff0cCARLA \u53ef\u4e0e AutoWare \u7b49\u6846\u67b6\u4ea4\u4e92\u3002<\/li>\n<\/ol>\n<h3>\u7279\u8272\u529f\u80fd\u64cd\u4f5c<\/h3>\n<ul>\n<li><strong>\u4f20\u611f\u5668\u914d\u7f6e<\/strong>\uff1a\u901a\u8fc7 Python API \u6dfb\u52a0\u4f20\u611f\u5668\u5230\u8f66\u8f86\u3002\u4f8b\u5982\uff0c\u6dfb\u52a0 RGB \u6444\u50cf\u5934\uff1a\n<pre><code>blueprint_library = world.get_blueprint_library()\r\ncamera_bp = blueprint_library.find('sensor.camera.rgb')\r\ncamera = world.spawn_actor(camera_bp, carla.Transform(carla.Location(x=1.5, z=1.4)))\r\ncamera.listen(lambda image: image.save_to_disk('output\/%06d.png' % image.frame))\r\n<\/code><\/pre>\n<\/li>\n<li><strong>\u591a\u667a\u80fd\u4f53\u6a21\u62df<\/strong>\uff1a\u901a\u8fc7\u591a\u5ba2\u6237\u7aef\u67b6\u6784\uff0c\u591a\u4e2a Python \u811a\u672c\u53ef\u540c\u65f6\u63a7\u5236\u4e0d\u540c\u8f66\u8f86\u3002\u6bcf\u4e2a\u5ba2\u6237\u7aef\u8fde\u63a5\u5230\u6a21\u62df\u5668\u7aef\u53e3\uff08\u9ed8\u8ba4 2000-2002\uff09\u3002<\/li>\n<li><strong>Chrono \u7269\u7406\u6a21\u62df<\/strong>\uff1a\u542f\u7528 Chrono \u5e93\u540e\uff0c\u8f66\u8f86\u52a8\u529b\u5b66\u66f4\u771f\u5b9e\uff0c\u9002\u5408\u7814\u7a76\u8f66\u8f86\u63a7\u5236\u548c\u52a8\u6001\u54cd\u5e94\u3002\u914d\u7f6e\u65b9\u6cd5\u53c2\u8003\u5b98\u65b9\u6587\u6863\uff08https:\/\/carla.readthedocs.io\/en\/latest\/adv_chrono\/\uff09\u3002<\/li>\n<\/ul>\n<h2>\u5e94\u7528\u573a\u666f<\/h2>\n<ol>\n<li><strong>\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u5f00\u53d1<\/strong><br \/>\n\u7814\u7a76\u4eba\u5458\u4f7f\u7528 CARLA \u6d4b\u8bd5\u611f\u77e5\u3001\u89c4\u5212\u548c\u63a7\u5236\u7b97\u6cd5\u3002\u4f8b\u5982\uff0c\u901a\u8fc7\u6a21\u62df\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u6570\u636e\uff0c\u8bad\u7ec3\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u8fdb\u884c\u76ee\u6807\u68c0\u6d4b\u548c\u8def\u5f84\u89c4\u5212\u3002<\/li>\n<li><strong>\u4ea4\u901a\u573a\u666f\u6d4b\u8bd5<\/strong><br \/>\n\u5f00\u53d1\u8005\u53ef\u5728 CARLA \u4e2d\u521b\u5efa\u590d\u6742\u4ea4\u901a\u573a\u666f\uff0c\u5982\u4ea4\u53c9\u8def\u53e3\u78b0\u649e\u6d4b\u8bd5\u6216\u6076\u52a3\u5929\u6c14\u4e0b\u7684\u9a7e\u9a76\uff0c\u9a8c\u8bc1\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/li>\n<li><strong>\u6559\u80b2\u4e0e\u57f9\u8bad<\/strong><br \/>\n\u9ad8\u6821\u548c\u57f9\u8bad\u673a\u6784\u4f7f\u7528 CARLA \u6559\u6388\u81ea\u52a8\u9a7e\u9a76\u539f\u7406\u3002\u5b66\u751f\u901a\u8fc7 Python API \u5b9e\u73b0\u7b80\u5355\u63a7\u5236\u7b97\u6cd5\uff0c\u5b66\u4e60\u4f20\u611f\u5668\u6570\u636e\u5904\u7406\u548c\u8f66\u8f86\u63a7\u5236\u3002<\/li>\n<li><strong>\u591a\u667a\u80fd\u4f53\u7814\u7a76<\/strong><br \/>\nCARLA \u7684\u591a\u5ba2\u6237\u7aef\u67b6\u6784\u9002\u5408\u7814\u7a76\u591a\u8f66\u8f86\u534f\u540c\u9a7e\u9a76\uff0c\u6a21\u62df\u8f66\u961f\u901a\u4fe1\u6216\u7ade\u4e89\u6027\u9a7e\u9a76\u573a\u666f\u3002<\/li>\n<\/ol>\n<h2>QA<\/h2>\n<ol>\n<li><strong>CARLA \u652f\u6301\u54ea\u4e9b\u64cd\u4f5c\u7cfb\u7edf\uff1f<\/strong><br \/>\nCARLA \u5b98\u65b9\u652f\u6301 Ubuntu 18.04 \u548c 20.04\uff0cWindows 7 \u53ca\u4ee5\u4e0a\u7248\u672c\u3002MacOS \u6682\u65e0\u5b98\u65b9\u652f\u6301\uff0c\u4f46\u793e\u533a\u6709\u90e8\u5206\u975e\u5b98\u65b9\u89e3\u51b3\u65b9\u6848\u3002<\/li>\n<li><strong>\u5982\u4f55\u89e3\u51b3\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\u7684\u4f9d\u8d56\u95ee\u9898\uff1f<\/strong><br \/>\n\u786e\u4fdd\u5b89\u88c5\u6240\u6709\u4f9d\u8d56\uff08\u5982 CMake\u3001Ninja\uff09\u3002\u8fd0\u884c\u00a0<code>CarlaSetup.sh<\/code>\u00a0\u811a\u672c\u4f1a\u81ea\u52a8\u5b89\u88c5\u7f3a\u5931\u4f9d\u8d56\u3002\u82e5\u5931\u8d25\uff0c\u68c0\u67e5\u5b98\u65b9 FAQ\uff08https:\/\/carla.readthedocs.io\/en\/latest\/faq\/\uff09\u3002<\/li>\n<li><strong>\u53ef\u4ee5\u79bb\u7ebf\u8fd0\u884c CARLA \u5417\uff1f<\/strong><br \/>\n\u662f\u7684\uff0cCARLA \u652f\u6301\u79bb\u7ebf\u8fd0\u884c\u3002\u4e0b\u8f7d\u9884\u7f16\u8bd1\u5305\u6216\u7f16\u8bd1\u6e90\u7801\u540e\uff0c\u65e0\u9700\u8054\u7f51\u5373\u53ef\u8fd0\u884c\u6a21\u62df\u5668\u548c\u811a\u672c\u3002<\/li>\n<li><strong>\u5982\u4f55\u83b7\u53d6\u66f4\u591a\u5730\u56fe\uff1f<\/strong><br \/>\n\u4e0b\u8f7d\u989d\u5916\u5730\u56fe\u5305\uff08\u5982 Town06\u3001Town07\uff09\u6216\u4f7f\u7528 RoadRunner \u521b\u5efa\u81ea\u5b9a\u4e49\u5730\u56fe\uff0c\u5bfc\u5165 OpenDRIVE \u6587\u4ef6\u5230 CARLA\u3002<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>CARLA 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