Summary: The Planning module plans a trajectory (including coordinates, speed, acceleration, jerk jerk, time, etc. information), and then pass this information to the control module.
First of all, you need to understand that the Planning module is based on the levels of Scenario, Stage, and Task, namely: Scenario -> Step -> Specific decision-making method. Apollo can cope with different road scenarios faced by autonomous driving, all of which are registered and managed through Scenario. Scenario uses a finite state machine to judge and select the current driving scene. There are multiple Stages under each Scenario, which refer to the rough steps that need to be executed in the current scene. For example, parking is divided into two Stages: braking before parking, parking, Parking begins after the vehicle stops. Task will list the specific methods of the Stage.
1. Related parameters
1.1 Judgment parameters for reaching the end point
This section defines the relevant parameters of whether to reach the end point, heading buffer, horizontal and vertical buffer, etc.
1.2 Related parameters of the generated trajectory
