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In this work, the soft rescattering parameters in the $B^\pm\rightarrow \pi^\pm\pi^+\pi^-$ and $B^\pm\rightarrow K^\pm\pi^+\pi^-$ decays with the light scalar meson $f_0(500)$ as the intermediate resonance are studied within the QCD factorization. Considering the interference effect between $\rho(770)^0$ and $f_0(500)$, we utilize the experimentally more direct event yields for fitting and get the soft rescattering parameters $|\rho_k^{SP}|=3.29\pm1.01$ and $|\rho_k^{PS}|=2.33\pm0.73$ in $B\rightarrow PS$ and $B\rightarrow SP$ decays ($P$ and $S$ denote pseudoscalar and scalar mesons, respectively), respectively. We also study the branching ratios and $CP$ asymmetries in the decay modes involving other scalar mesons, including $f_0(980)$, $a_0(980)$, $a_0(1450)$ and $K_0^*(1430)$, to test the rationality of the values of $|\rho_k^{SP}|$ and $|\rho_k^{PS}|$. Meanwhile, the wealth of experimental data facilitate the examination of the forward-backward asymmetry induced $CP$ asymmetries (FB-CPAs), and the localized $CP$ asymmetries (LACPs). We investigate these asymmetries resulting from the interference between $\rho(770)^0$ and $f_0(500)$ for $B^\pm\rightarrow \pi^\pm\pi^+\pi^-$ and $B^\pm\rightarrow K^\pm\pi^+\pi^-$ decays when the invariant mass of $\pi^+\pi^-$ locates in the low-energy region $0.445\mathrm{GeV}
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