Paper Reading - A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles

Motion Planning

penway
Last updated on Sep 27, 2023 1 min read Paper_Reading

1. Decision Making Hierachy

  1. Route Planning: Selecting a route from the start to the destination
  2. Behavior Planning: Selecting a behavior like lane change, turn, etc.
  3. Motion Planning: To plan for the local trajectory of the vehicle
  4. Control: To track the planned trajectory