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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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Whether dynamic obstacles are considered in trajectory planning on open space planner? #10291

Open studentlemon opened 4 years ago

studentlemon commented 4 years ago

In open space planner, i want to know if dynamic obstacles are considered in path generation, or only static obstacles are considered. Because I only see obstacles in the path planning process. Thanks

JasonZhou404 commented 4 years ago

For current its usage in valet parking, dynamic obstacles are dealt with in a passive way by assigning stop speed profile when encounter colliding obstacle. Of course will involve more comprehensive speed planning in the future