This project forked from zhaokun506/driving-planning
结构化道路的路径规划算法 简化版的emplanner
License: MIT License
config-参数配置的类，将参数配置为类
EMPlanner-主算法入口
path_time是构建SL图。
1.S坐标值的建立
2.host在SL图的坐标
3.障碍物在SL图的坐标
4.采样点的构造
5.动态规划
6.二次规划
speed_time是构建ST图。
1.S坐标值的建立
2.ST图的建立
3.采样点的构造
4.动态规划
5.二次规划
reference_line参考线模块
1.参考线的截取
2.参考线的平滑
参考线平滑结果：
路径规划结果dp+qp SL图
速度规划结果dp+qp ST图
参考文献： 参照b站忠厚老实的老王 自动驾驶决策规划算法，routing perception localization做了理想假设
apollo
湖南大学 李柏 自动驾驶决策规划算法
声明：水平有限，仅供学习使用。引用请声明
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