zhm-real / motionplanning Goto Github PK

How do you deal with the discontinuity of Yaw as the reference used in the MPC controller?

Hi @zhm-real ,

Thanks for promoting Apollo! It is really glad to help the community and get attentions from the community. We recently added a few paper published related to Apollo PNC algorithms listed in "Related Paper" section of Planning and Control Module, https://github.com/ApolloAuto/apollo/tree/master/modules/planning https://github.com/ApolloAuto/apollo/tree/master/modules/control , was wondering if you could add those in the reference as well.

Thanks again,

please help me !!why i can not run hybrid_astar_with_trailer ,when i run hybrid_astar_with_trailer,then the program was stuck.

Hi ,
I am studying autonomous driving and used your MotionPlanning repo as a reference. I encounter some issue with lattice_planner as I tried to load a route generated from OpenStreetMap as reference line. I have converted the route’s lat and long to a range from 0 to 100 so I can load to the planner. The path that I loaded to the planner looks like this:

and then I got this error

Traceback (most recent call last):
  File "c:/Users/nam/Desktop/MotionPlanning-master/LatticePlanner/lattice_planner.py", line 433, in <module>
    main_Crusing()
  File "c:/Users/nam/Desktop/MotionPlanning-master/LatticePlanner/lattice_planner.py", line 335, in main_Crusing
    path = lattice_planner_for_Cruising(l0, l0_v, l0_a, s0, s0_v, s0_a, ref_path)
  File "c:/Users/nam/Desktop/MotionPlanning-master/LatticePlanner/lattice_planner.py", line 265, in lattice_planner_for_Cruising
    path = extract_optimal_path(paths)
  File "c:/Users/nam/Desktop/MotionPlanning-master/LatticePlanner/lattice_planner.py", line 260, in extract_optimal_path
    return paths[-1]
KeyError: -1

I havent managed to fix this, please help me out! Thanks