Missing edges: In some special situations (such as big bends, crosses, round islands), the smart car cannot fully recognize the boundary. This situation is called missing edges
Compensation: In the case of missing edges, the missing boundary needs to be compensated
Mass moment: data collected after the camera, there are different values for different weights of collection rows, so that the weight distribution of a matrix called mass moment, the array is typically present
as
int16 zhiliangju[NUM]={0,0,0,0,1,1,1,1,1,1,2,2,2,2,3,3,4,5,5,5,4,3,1,1,1,1};
——————Update the dividing line——————
Midline array: As the name suggests, an array for storing the position of the midline
Target point: The midline matrix is multiplied by the mass moment to get the target point (target point)