planning and control -凯发k8网页登录

vehicle costmaps, optimal rrt* path planning, lateral and longitudinal controllers

automated driving toolbox™ provides several features that support path planning and vehicle control.

to plan driving paths, you can use a vehicle costmap and the optimal rapidly exploring random tree (rrt*) motion-planning algorithm. you can also check the validity of the path, smooth the path, and generate a velocity profile along the path.
to design vehicle control systems, you can use lateral and longitudinal controllers that enable autonomous vehicles to follow a planned trajectory.

functions

	costmap representing planning space around vehicle
	store vehicle dimensions
	check vehicle costmap for collision-free poses or points
	check vehicle costmap for occupied poses or points
	get cost value of cells in vehicle costmap
	set cost value of cells in vehicle costmap
	collision-checking configuration for costmap based on inflation

	configure rrt* path planner
	plan vehicle path using rrt* path planner
	check validity of planned vehicle path
	planned vehicle path
	interpolate poses along planned vehicle path
	smooth vehicle path using cubic spline interpolation

compute steering angle command for path following by using stanley method

	smooth vehicle path using cubic spline interpolation
	generate velocity profile of vehicle path given kinematic constraints
	control steering angle of vehicle for path following by using stanley method
	control longitudinal velocity of vehicle by using stanley method

control the steering angle of a vehicle following a planned path and perform lane changing.
code generation for path planning and vehicle control
generate c code for a path planning and vehicle control algorithm, and verify the code using software-in-the-loop simulation.