Motion planning algorithms commonly used on autonomous vehicles. (path planning + path tracking)

Hi @zhm-real ,

Thanks for promoting Apollo! It is really glad to help the community and get attentions from the community. We recently added a few paper published related to Apollo PNC algorithms listed in "Related Paper" section of Planning and Control Module, https://github.com/ApolloAuto/apollo/tree/master/modules/planning https://github.com/ApolloAuto/apollo/tree/master/modules/control , was wondering if you could add those in the reference as well.

Thanks again,

If the node cost in openset is changed, the priority queue should be updated.

heapdict supports the operation to change priority of the existing element.

Hi , I am studying autonomous driving and used your MotionPlanning repo as a reference. I encounter some issue with lattice_planner as I tried to load a route generated from OpenStreetMap as reference line. I have converted the route’s lat and long to a range from 0 to 100 so I can load to the planner. The path that I loaded to the planner looks like this: and then I got this error

Traceback (most recent call last):
  File "c:/Users/nam/Desktop/MotionPlanning-master/LatticePlanner/lattice_planner.py", line 433, in <module>
    main_Crusing()
  File "c:/Users/nam/Desktop/MotionPlanning-master/LatticePlanner/lattice_planner.py", line 335, in main_Crusing
    path = lattice_planner_for_Cruising(l0, l0_v, l0_a, s0, s0_v, s0_a, ref_path)
  File "c:/Users/nam/Desktop/MotionPlanning-master/LatticePlanner/lattice_planner.py", line 265, in lattice_planner_for_Cruising
    path = extract_optimal_path(paths)
  File "c:/Users/nam/Desktop/MotionPlanning-master/LatticePlanner/lattice_planner.py", line 260, in extract_optimal_path
    return paths[-1]
KeyError: -1

I havent managed to fix this, please help me out! Thanks