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: