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BACKEND: Improve planning code #59
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Current control process
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Possible refactor plan: decision tree for each vehicle
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Scenario runner's Control Procss
ParserThe parser is separated into several stages:
BehaviorsIt uses Behavior Tree and a corresponding lib called py-trees to compose scenarios. An example from scenario runner is displayed below:
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Task Description
The current vehicle planning & control code is a bit messy and hard to extend. As we are going to add new features and more vehicle behaviors, it's time to refactor and improve the planning code.
Subtasks:
steering_control
#60py_trees
#73The text was updated successfully, but these errors were encountered: