EMplanner_Carla

Implementation of motion planning for self-driving cars based on EM Planner in Carla

Routing && Rerference line

routing based on A*

smooth reference line based on fem smoother

Path Planning based on S-L graph

path decision based on DP

path optimizer based on QP

Speed Planning based on S-T graph(TODO)

speed decision based on DP

speed optimizer based on QP

Longitudinal Control based on PID

Lateral Control based on MPC and LQR