Lane Planner

Note

SW Release Applicability: This module is available in NVIDIA DRIVE Software releases.

About This Module

The Lane Planner module allows to find a way from a start point to a target point along the lanes of an HD map. Optionally, a list of intermediate points can be provided as input, to guide the Lane Planner along a rough path obtained by a higher-level route planner.

The Lane Planner does a Dijkstra graph traversal through the map data, starting at a given start point, following lane connections and doing lane changes where possible, until a lane of the target lane set is found. The graph search is guided by a cost function that weighs:

• travel time based on distance and speed limits
• lane changes
• cost reductions and penalties based on the input guide points.

General Usage

// init lane planner(...);
dwLanePlannerHandle_t lanePlanner{};
dwLanePlanner_initialize(...);

// init a lane plan container
dwLanePlanHandle_t lanePlanHandle{};
dwLanePlan_initialize(..., lanePlanHandle, lanePlanner);

// run the lane planning
dwLanePlanner_run(..., lanePlanHandle, lanePlanner);

while(...)
{
    // track current position on lane plan
    dwLanePlan_updateCurrentPointWithGlobalPose(..., lanePlanHandle);

    // lane change
    dwLanePlan_getNextLaneChange(..., lanePlanHandle);

    // lane split
    dwLanePlan_getNextLaneSplit(..., lanePlanHandle);

    // lane merge
    dwLanePlan_getNextLaneMerge(..., lanePlanHandle);
}

dwLanePlan_release();
dwLanePlanner_release(...);;

Relevant Tutorials

• Initialization
• Lane Planning
• Lane Plan
• Cost Function
• Lane Plan Tracker
• Lane Plan Events
• Helper Functions

APIs

• Lane Planner Interface