1.8 Rule Base Stop Decider

Posted on Edited on

设置停止点

设置停止点

设置这些场景中的停止点：

靠边停车

紧急换道

参考线终点

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// 1. Rule_based stop for side pass onto reverse lane
StopOnSidePass(frame, reference_line_info);

// 2. Rule_based stop for urgent lane change
if (FLAGS_enable_lane_change_urgency_checking) {
  CheckLaneChangeUrgency(frame);
}

// 3. Rule_based stop at path end position
AddPathEndStop(frame, reference_line_info);