控制通信 / PNC API

说明 / Overview

规划、导航与控制通信接口，提供主车状态查询、车辆控制指令下发、信号灯事件回调注册以及驾驶员接管（DIL）支持。
Planning, navigation, and control communication interfaces, covering ego vehicle state query, control command sending, signal event callbacks, and driver-in-the-loop (DIL) support.

功能分组 / Group	说明 / Description
状态查询 / State Query	主车状态、控制模式、航路点查询 Ego vehicle state, control mode, waypoint query
车辆控制 / Vehicle Control	位姿设置、驾驶控制指令下发 Pose setting and drive control command
信号与事件 / Signals & Events	信号灯控制、场景事件回调 Signal light control and scenario event callback
驾驶员接管 / DIL	驾驶员名称注册与接管控制 Driver name registration and takeover control