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Update pnc_map.md #10

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4 changes: 2 additions & 2 deletions docs/planning/pnc_map.md
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# 规划与控制地图: Pnc Map

pnc map其实和高精地图hd map没有关系，后者是专门为规划与控制模块设计的库函数，在hd map层次之上，负责一些地图相关信息的处理。例如查询车辆可能的形式路由段(list<RouteSegments>)，然后对每个路由段合成一个路径Path，这是pnc map最重要的功能。
pnc map其实和高精地图hd map没有关系，后者是专门为规划与控制模块设计的库函数，在hd map层次之上，负责一些地图相关信息的处理。例如查询车辆可能的行驶路由段(list<RouteSegments>)，然后对每个路由段合成一个路径Path，这是pnc map最重要的功能。

pnc map目前被封装在指引线提供器ReferenceLineProvider中，但是由于其功能比较集中，我们单独将他拿出来讲解。规划控制地图pnc map主要的功能有三个：

Expand Down Expand Up @@ -1085,4 +1085,4 @@ void Path::GetAllOverlaps(GetOverlapFromLaneFunc GetOverlaps_from_lane,
| `std::vector<PathOverlap> parking_space_overlaps_`| 停车区域覆盖区域，元素形式{id, start_s, end_s}，由start_s从小到大排列，即距离主车最近的覆盖区域最靠前存储 |
| `std::vector<PathOverlap> junction_overlaps_` | 路口覆盖区域，元素形式{id, start_s, end_s}，由start_s从小到大排列，即距离主车最近的覆盖区域最靠前存储 |
| `std::vector<PathOverlap> clear_area_overlaps_` | 禁停区覆盖区域，元素形式{id, start_s, end_s}，由start_s从小到大排列，即距离主车最近的覆盖区域最靠前存储 |
| `std::vector<PathOverlap> speed_bump_overlaps_` | 减速带覆盖区域，元素形式{id, start_s, end_s}，由start_s从小到大排列，即距离主车最近的覆盖区域最靠前存储 |
| `std::vector<PathOverlap> speed_bump_overlaps_` | 减速带覆盖区域，元素形式{id, start_s, end_s}，由start_s从小到大排列，即距离主车最近的覆盖区域最靠前存储 |