1.5 Piecewise Jerk Path Optimizer

Posted on 2021-03-11 Edited on 2021-07-14

如下图所示，frenet坐标系下，给定边界，使用优化的思想求解轨迹

1.4 Path Bound Decider

Posted on 2021-03-10 Edited on 2021-07-14

前面几个decider更偏向于make decision，通过外部环境选择自车的动作接下来的目标是根据道路、障碍物以及前几步的decision-making建立数学模型来求解轨迹

视频：

Posted on 2021-03-09 Edited on 2021-07-14

Path Lane Borrow Decider

Posted on 2021-03-08 Edited on 2021-07-14

换道时复用上一时刻的轨迹，配置中默认关闭了。如果有Path Reuse的话，就不需要跑下面的PATH_LANE_BORROW_DECIDER、PATH_BOUND_DECIDER了

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

Lane Change Decider

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

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