The lighting of target lane is function illuminating. It is requested to provide comfortable and pleased vision environment for the shooter.
靶道的照明是功能性照明，要求为射手提供一个舒适、愉快的视觉环境。
In the Eastern Jin Dynasty Gu Kaizhi "On painting" Lane made a real target performance requirements : not only for appearance, movement, gesture, shape similar;
东晋顾恺之在《论画》里提出了真实地表现对象的要求：不是只要求外表、动作、姿态等外形相似；
This algorithm used of rectangles for target vehicle and obstacle vehicles representation, combined with target vehicle's states and polynomial theory to generate lane changing trajectory.
该算法采用矩形对换道车辆及障碍车辆进行包裹，结合换道车辆的边界条件由以时间为参数的多项式计算得到换道轨迹。
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