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Planning & Control#

The planning-control image packages trajectory generation and vehicle control. Deployments run them as separate containers from the same image.

Planning#

  • Route planning on Lanelet2 road networks
  • Behavior planning for lanes, intersections, and obstacles
  • Kinematically feasible motion planning
  • Goal and parking maneuvers
  • Emergency fallback trajectories
  • Launch file: tier4_planning_component.launch.xml

Control#

  • Lateral steering and longitudinal velocity control
  • PID and Model Predictive Control modes
  • Vehicle-specific command conversion
  • Emergency stop and heartbeat monitoring
  • Launch file: tier4_control_component.launch.xml