Planning¶
The package provides operators and classes useful for planning the trajectory the ego vehicle must follow. The planners ensure the ego-vehicle follows the lanes, decide when the ego-vehicle must brake to avoid collision with other agents and static obstacles, ensure that the ego-vehicle respects traffic lights.
Execute the following command to run a planning demo:
# To run the Frenet Optimal Trajectory planner.
python3 pylot.py --flagfile=configs/frenet_optimal_trajectory_planner.conf
# To run the RRT* planner.
python3 pylot.py --flagfile=configs/rrt_star_planner.conf
# To run the Hybrid A* planner.
python3 pylot.py --flagfile=configs/hybrid_astar_planner.conf
Important flags¶
--planning_type: Sets which planner to use. Pylot currentlys offers four alternatives: waypoint following, Frenet optimal trajectory, RRT*, and Hybrid A*.--visualize_waypoints: Enables visualization of the waypoints computed by the planning operators.--draw_waypoints_on_world: Enables drawing of waypoints directly in the simulator.--draw_waypoints_on_camera_frames: Enables drawing of waypoints on camera frames.--target_speed: Sets the desired ego-vehicle target speed.--num_waypoints_ahead: Number of future waypoints to plan for.--num_waypoints_behind: Number of past waypoints to use while planning.--obstacle_distance_threshold: Obstacles that are more than this many meters away from the ego-vehicle are not going to be considered in the planner.
Note: Each planner has further other flags, which are not described here.