Configuration

All relevant configuration files can be found in the ‘params’-folder, located in the root-directory. All the files are explained in the following.

driving_task.ini

The driving task file holds information about the task to be executed. Currently, it solely holds the track to be loaded and driven. Further information, like a maximum velocity may be added by the user.

ltpl_config_offline.ini

The offline configuration file holds parameters primarily specifying the offline generation of the graph. Thereby, the discretization of the lattice as well as offline cost weighting can be adjusted. All parameters are described in detail in the config file.

ltpl_config_online.ini

The online configuration file holds parameters specifying the online planning of with the graph. As with the offline config file, all parameters are described in detail in the config file.

An important parameter in the config file is ‘vp_type’, which specifies the executed velocity planner. Currently to variants are integrated into the planner. ‘fb’ is a forward-backward planner, which is enabled by default and fully integrated into the stack. ‘sqp’ is an optimization based approach and must be installed separatly (including parameter and input files).

Note

Details on the SQP velocity planer (incl. the parameter files), as well as required packages can be found in the corresponding repository (’https://github.com/TUMFTM/velocity_optimization’).