Apollo: What's the difference between rtk planner, em planner, and lattice planner?

[lntsh854]

What's the difference between rtk planner, em planner, and lattice planner?

[liujiwei777]

RTK Planner started at Apollo 1.0, which is used to plan the pre-set trajectory for the follow-through algorithm.

EM planner started in Apollo 1.5 and has been abandoned in 3.5. Based on dynamic planning and quadratic planning, it first carries out path planning and then speed planning, which is suitable for complex scenarios.

Lattice planner started with Apllo 2.5, and it also carries out path planning and speed planning, which is suitable for simple scenarios.

[daohu527]

RTK Planner started at Apollo 1.0, which is used to plan the pre-set trajectory for the follow-through algorithm.

EM planner started in Apollo 1.5 and has been abandoned in 3.5. Based on dynamic planning and quadratic planning, it first carries out path planning and then speed planning, which is suitable for complex scenarios.

Lattice planner started with Apllo 2.5, and it also carries out path planning and speed planning, which is suitable for simple scenarios.

Why EM planner abandoned in 3.5, since it works for complex scenes. What is the replacement?

[mpostl]

RTK Planner started at Apollo 1.0, which is used to plan the pre-set trajectory for the follow-through algorithm.
EM planner started in Apollo 1.5 and has been abandoned in 3.5. Based on dynamic planning and quadratic planning, it first carries out path planning and then speed planning, which is suitable for complex scenarios.
Lattice planner started with Apllo 2.5, and it also carries out path planning and speed planning, which is suitable for simple scenarios.

Why EM planner abandoned in 3.5, since it works for complex scenes. What is the replacement?

Any information to that? Would be interesting why the em planner was removed.

[YingjieLu]

RTK Planner started at Apollo 1.0, which is used to plan the pre-set trajectory for the follow-through algorithm.
EM planner started in Apollo 1.5 and has been abandoned in 3.5. Based on dynamic planning and quadratic planning, it first carries out path planning and then speed planning, which is suitable for complex scenarios.
Lattice planner started with Apllo 2.5, and it also carries out path planning and speed planning, which is suitable for simple scenarios.

Why EM planner abandoned in 3.5, since it works for complex scenes. What is the replacement?

Any information to that? Would be interesting why the em planner was removed.

As far as I noticed, it is not replaced, instead it got name changed, and become the planner that by default being applied. Lattice planner still exists in the code in 3.5, but it is not used anymore.