Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 24

The planning and control module receives inputs from perception and localization modules, and generates decisions in real time. Usually, different behaviors are defined for a planning and control module and under different conditions, one behavior is chosen.

A typical planning and control system has the following architecture: first, as the user enters the destination, the routing module checks the map for road network information and generates a route. Then the route is fed to the behavioral planning module, which checks the traffic rules to generate motion specifications. Next, the generated route along with motion specifications are passed down to the motion planner, which combines real-time perception and localization information to generate trajectories. Finally, the generated trajectories are passed down to the control system, which reactively corrects errors in the execution of the planned motions.