1.0 Lane Follow Sceanrio & Stage

Post author: Tahm Kench
Post link: <a href="https://pickteemo.github.io/2021/03/06/apollo/planning/1_0_lane_follow_stage/" title="1.0 Lane Follow Sceanrio &amp; Stage">https://pickteemo.github.io/2021/03/06/apollo/planning/1_0_lane_follow_stage/
Copyright Notice: All articles in this blog are licensed under <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/" rel="noopener" target="_blank"> BY-NC-SA unless stating additionally.

Posted on 2021-03-06 Edited on 2021-07-14

配置文件：modules/planning/conf/scenario/lane_follow_config.pb.txt

TASK task_type: LANE_CHANGE_DECIDER task_type: PATH_REUSE_DECIDER task_type: PATH_LANE_BORROW_DECIDER task_type: PATH_BOUNDS_DECIDER
task_type: PIECEWISE_JERK_PATH_OPTIMIZER task_type: PATH_ASSESSMENT_DECIDER task_type: PATH_DECIDER task_type: RULE_BASED_STOP_DECIDER task_type: ST_BOUNDS_DECIDER task_type: SPEED_BOUNDS_PRIORI_DECIDER task_type: SPEED_HEURISTIC_OPTIMIZER task_type: SPEED_DECIDER task_type: SPEED_BOUNDS_FINAL_DECIDER task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER task_type: RSS_DECIDER