Trajectory Planning Paper

ApolloAuto / apollo

An open autonomous driving platform

Apache License 2.0

24.81k stars 9.65k forks source link

Trajectory Planning Paper #13729

Open purewater0901 opened 3 years ago

purewater0901 commented 3 years ago

Hello Apollo Team! I just found two following papers from your team and read them.

https://ieeexplore.ieee.org/document/8916917
https://ieeexplore.ieee.org/document/9304787

They are so helpful to understand the details of the trajectory planning algorithm used in Apollo. However, I couldn't find the corresponding code in the Apollo. If it is possible could you tell me where I can find the code?

qwetqwe commented 3 years ago

It is in modules/planning/tasks deciders and optimizers

purewater0901 commented 3 years ago

@qwetqwe Thank you for your help and reply. If you don't mind, can I ask you where I can find the velocity optimization document or paper? Do you use the same algorithm as described in the above papers?