search

LiJiangnanBit / path_optimizer

Optimization-based real-time path planning for vehicles.
MIT License
540 stars 141 forks source link

stitch path #11

Open LebronRemonJames opened 3 years ago

LebronRemonJames commented 3 years ago

Do you consider using stitch path in optimizer process ? If reference line has changed sharply , such as lane change , it would be uncomfortable

LiJiangnanBit commented 3 years ago

Hi, I'm not sure what "stich path" is. If you mean the strategy to keep the path stable between planning cycles, like what Apollo does, maybe it should be considered in the upper-level planner?

LebronRemonJames commented 3 years ago

Trajectory Planning for B ERTHA -a Local, Continuous Method.pdf 2021-01-12 11-00-22屏幕截图 i am not sure whether Apollo's method (just select planning start point without solid path which originate from history path) work well.

LiJiangnanBit commented 3 years ago

That's a good point. :+1:

james1kobby commented 1 year ago

@LebronRemonJames ,Is this excellent open source code?