一、概述
PathDecider 是lanefollow 场景下,所调用的第 7 个 task,属于task中的decider 类别它的作用主要是:
二、PathDecider的具体逻辑如下:
1、PublicRoadPlanner 的 LaneFollowStage 配置了以下几个task 来实现具体的规划逻辑,PathDecider 是第7个task:
scenario_type: LANE_FOLLOW
stage_type: LANE_FOLLOW_DEFAULT_STAGE
stage_config: {
stage_type: LANE_FOLLOW_DEFAULT_STAGE
enabled: true
task_type: LANE_CHANGE_DECIDER
task_type: PATH_REUSE_DECIDER
task_type: PATH_LANE_BORROW_DECIDER
task_type: PATH_BOUNDS_DECIDER
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_ASSESSMENT_DECIDER
task_type: PATH_DECIDER
task_type: RULE_BASED_STOP_DECIDER
task_type: ST_BOUNDS_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: SPEED_HEURISTIC_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
# task_type: PIE