Apollo: Is the Lattice planner implementation complete?

[gulshan216]

Hi,

I am studying a bit on Lattice planning from the reference paper "Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame". Based on one of the older comments from one of previous issues, i got to know that the Lattice planner implementation was still under development. Is it still the case?

If it works, how do i use it instead of the em_planner or rtk_planner? I am looking to implement my own version of the lattice planner with few optimized libraries and try to integrate it with Apollo. In the end I would like to compare the performance of my planning module with the existing implementation in Apollo.

[lianglia-apollo]

We are continuously upgrading both em and lattice planners. Please feel free to implement any of them with your own libraries. You just need to make a new name for your planner, and make a pull request. We will be glad to review it. Thanks!

[YajiaZhang]

Hello,

Thank you for your interest in Lattice planner. The lattice planner is basically complete while we are still working on it to make it more stable. You can run this planner by changing the config file in planning (apollo/modules/planning/conf/planning_config.pb.txt). Change first line "planner_type : EM" to "planner_type : LATTICE".

You are more than welcome to implement your own version of lattice planner or contribute to the existing version.

[gulshan216]

@YajiaZhang Thanks a lot for your response. Could you please provide me some info on the functionality of the various modules in apollo/modules/planning/lattice/behavior, trajectory_generation and trajectory1d. I know that in general, lattice planner implements Optimal Trajectory Generation in a Frenet Frame and uses certain cost functions to find the best trajectory and i have read the reference paper and seen few sample implementations online. But the implementation here is a deeply modified version of that, so i would like to better understand the flow here.

I would like to initially implement a very basic version of the lattice planner with the optimized libraries and then try to improve upon it. It would really help to know the functionality of these modules so that I can carry over a few things to my planner as well and implement it using my libraries.

[qshzh]

looking forward some info on the organization of module and function of these modules