Autoware 源码解读

系统架构

 lidar_faker_perception   lidar_euclidean_cluster_detect     range_vision_fusion

 lidar_naive_l_shape           point_pillars

roi_object_filter

object_map / wayarea2grid

lidar_kf_contour_track

astar_avoid           velocity_set+Astar_avoid                  astar_planner         astar_search     

twist_filter              twist相关节点+pure_pursuit

pure_pursuit           pure_pursuit            pure_pursuit         pure_pursuit                  

Open Source Integrated Planner   

 循迹相关

mpc_follower       mpc_follower2      mpc_follower3

 Decision_maker                Decision_maker