Autoware.Auto
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The purpose of the parking planner is to plan complex maneuvers for moving a vehicle into and out of parking spots, avoiding obstacles along the way.
A basic kinematic bicycle model is used as presented in [1], extended with a state for the front wheel steering angle.
The parking planner provides a method for planning a dynamically feasible trajectory from a given starting vehicle state to a given target vehicle state. The trajectory avoids obstacles and is provided as a list of both vehicle commands as well as vehicle dynamic states. The vehicle commands lead to the corresponding states when applied in a zero-order-hold fashion.
The parking planner provides a function plan
, taking initial and goal states as well as obstacle polyhedra as parameters. The function then returns an object containing the resulting trajectory as well as some metainformation about the solution process.
The planner follows the method presented in [2] and involves multiple stages of computation: