无人驾驶吕同学的博客

#ComputeLongitudinalErrors主函数void LonController::ComputeLongitudinalErrors( const TrajectoryAnalyzer *trajectory_analyzer, const double preview_time, const double ts, SimpleLongitudinalDebug *debug) { // the decomposed vehicle motion onto Frenet

#pragma once#include <array>#include "modules/common/math/vec2d.h"namespace apollo {namespace common {namespace math {// Notations:// s_condition = [s, s_dot, s_ddot]// s: longitudin...

/* * @brief: * This class solve an optimization problem: * Y * | * | P(x1, y1) P(x2, y2) * | P(x0, y0) ... P(x(k-1), y(k-1)) * |P(start)...

cos_theta_smoother.h（用户可以调用这个函数CosThetaSmoother：：Solve（）函数优化自己的路径）#pragma once#include <utility>#include <vector>#include "modules/planning/proto/cos_theta_smoother_config.pb.h"nam...

modules目录下的子目录├─ calibration// 标定模块，现在已经实现自动标定的功能├─ canbus // can总线相关的模块├─common // 公共源码模块如日志，工厂模式的实现，日志系统，监控模块，数学算法等├── control // 幅度和度的相互转换├── data // 数据的收集，存储和处理├── dreamview // 可视化模块，查看规划的轨迹...

http://git.bitfsd.cn:3000/Map.msg（地图，路标位置）std_msgs/Header header //时间戳fsd_common_msgs/Cone[] cone_redfsd_common_msgs/Cone[] cone_bluefsd_common_msgs/Cone[] cone_yellowfsd_common_msgs/Cone[] ...

Real-Time Trajectory Planning for Autonomous Urban Driving: Framework, Algorithms, and Verifications目的generating dynamically feasible trajectories in real time with limited onboard computational res...

（一）摘要The key components of DUT18D include YOLOv3-based object detection, pose estimation and time synchronization on its dual stereovision/monovision camera setupOf critical importance in autonomous...