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donghaiwang
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Feb 3, 2026
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修改概述:
代码实现了激光雷达感知障碍物+紧急制动 / 路径偏移避障的核心逻辑
修改的详细描述
初始化 Carla 客户端，连接仿真服务器，创建场景（地图、车辆、传感器）。
挂载激光雷达（LiDAR）传感器，实时获取点云数据。
处理点云数据，检测车辆前方的障碍物（距离阈值内的点云聚类）。
当检测到障碍物时，执行避障逻辑（紧急制动或小幅度转向）。
无障碍物时，车辆保持匀速直行。
经过了什么样的测试?
安装 Carla 仿真平台：参考Carla 官方文档。
启动 Carla 服务器：在 Carla 安装目录下执行
安装依赖库：执行pip install carla numpy。
运行效果
动图、视频、截图等
17dafa0722231f48b2f038bcc19d3467.mp4