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1. Control-slope problem
[Q]
If there are some special terrains, such as potholes in front of the road, or steep slopes (uphill and downhill) and other road conditions, should this be resolved at the map level, and has this been considered at the planning level? [A
]
There is a parameter in Control that is related to the slope angle of the ground, and this factor is taken into account when controlling. To be more specific, the parameter is called enable_slope_offset. After setting it to True, a slope_offset_compensation will be added to the acceleration command of Longitudinal according to the Pitch of the Vehicle State Provider. You can refer to this part of the code: https://github.com/ApolloAuto/apollo/blob/master/modules/control/controller/lon_controller.cc#L258_L269
2. Routing-algorithm
[Q]
Is the algorithm used in Apollo path planning the A* algorithm? What is the obstacle avoidance algorithm? If you want to replace it with another algorithm, which file do you need to change?
[A]