├── Apollo8.0代码解读Lattice planner.md ├── README.md └── planning ├── .vscode └── settings.json ├── BUILD ├── README.md ├── README_cn.md ├── common ├── BUILD ├── decision_data.cc ├── decision_data.h ├── dependency_injector.h ├── ego_info.cc ├── ego_info.h ├── ego_info_test.cc ├── feature_output.cc ├── feature_output.h ├── frame.cc ├── frame.h ├── frame_test.cc ├── history.cc ├── history.h ├── history_test.cc ├── indexed_list.h ├── indexed_list_test.cc ├── indexed_queue.h ├── indexed_queue_test.cc ├── learning_based_data.cc ├── learning_based_data.h ├── local_view.h ├── message_process.cc ├── message_process.h ├── obstacle.cc ├── obstacle.h ├── obstacle_blocking_analyzer.cc ├── obstacle_blocking_analyzer.h ├── obstacle_test.cc ├── open_space_info.cc ├── open_space_info.h ├── open_space_info_test.cc ├── path │ ├── BUILD │ ├── discretized_path.cc │ ├── discretized_path.h │ ├── discretized_path_test.cc │ ├── frenet_frame_path.cc │ ├── frenet_frame_path.h │ ├── frenet_frame_path_test.cc │ ├── path_data.cc │ └── path_data.h ├── path_boundary.cc ├── path_boundary.h ├── path_decision.cc ├── path_decision.h ├── planning_context.cc ├── planning_context.h ├── planning_gflags.cc ├── planning_gflags.h ├── reference_line_info.cc ├── reference_line_info.h ├── reference_line_info_test.cc ├── smoothers │ ├── BUILD │ ├── smoother.cc │ └── smoother.h ├── speed │ ├── BUILD │ ├── speed_data.cc │ ├── speed_data.h │ ├── st_boundary.cc │ ├── st_boundary.h │ ├── st_boundary_test.cc │ ├── st_point.cc │ └── st_point.h ├── speed_limit.cc ├── speed_limit.h ├── speed_limit_test.cc ├── speed_profile_generator.cc ├── speed_profile_generator.h ├── speed_profile_generator_test.cc ├── st_graph_data.cc ├── st_graph_data.h ├── st_graph_data_test.cc ├── trajectory │ ├── BUILD │ ├── discretized_trajectory.cc │ ├── discretized_trajectory.h │ ├── discretized_trajectory_test.cc │ ├── publishable_trajectory.cc │ ├── publishable_trajectory.h │ └── publishable_trajectory_test.cc ├── trajectory1d │ ├── BUILD │ ├── constant_deceleration_trajectory1d.cc │ ├── constant_deceleration_trajectory1d.h │ ├── constant_jerk_trajectory1d.cc │ ├── constant_jerk_trajectory1d.h │ ├── piecewise_acceleration_trajectory1d.cc │ ├── piecewise_acceleration_trajectory1d.h │ ├── piecewise_jerk_trajectory1d.cc │ ├── piecewise_jerk_trajectory1d.h │ ├── piecewise_trajectory1d.cc │ ├── piecewise_trajectory1d.h │ ├── standing_still_trajectory1d.cc │ └── standing_still_trajectory1d.h ├── trajectory_evaluator.cc ├── trajectory_evaluator.h ├── trajectory_stitcher.cc ├── trajectory_stitcher.h └── util │ ├── BUILD │ ├── common.cc │ ├── common.h │ ├── math_util.cc │ ├── math_util.h │ ├── util.cc │ └── util.h ├── conf ├── discrete_points_smoother_config.pb.txt ├── planner_open_space_config.pb.txt ├── planning.conf ├── planning_config.pb.txt ├── planning_config_navi.pb.txt ├── planning_navi.conf ├── planning_semantic_map_config.pb.txt ├── qp_spline_smoother_config.pb.txt ├── scenario │ ├── bare_intersection_unprotected_config.pb.txt │ ├── emergency_pull_over_config.pb.txt │ ├── emergency_stop_config.pb.txt │ ├── lane_follow_config.pb.txt │ ├── lane_follow_hybrid_config.pb.txt │ ├── learning_model_sample_config.pb.txt │ ├── narrow_street_u_turn_config.pb.txt │ ├── park_and_go_config.pb.txt │ ├── pull_over_config.pb.txt │ ├── stop_sign_unprotected_config.pb.txt │ ├── traffic_light_protected_config.pb.txt │ ├── traffic_light_unprotected_left_turn_config.pb.txt │ ├── traffic_light_unprotected_right_turn_config.pb.txt │ ├── valet_parking_config.pb.txt │ └── yield_sign_config.pb.txt ├── spiral_smoother_config.pb.txt └── traffic_rule_config.pb.txt ├── constraint_checker ├── BUILD ├── collision_checker.cc ├── collision_checker.h ├── constraint_checker.cc ├── constraint_checker.h ├── constraint_checker1d.cc └── constraint_checker1d.h ├── cyberfile_cpu.xml ├── cyberfile_gpu.xml ├── dag ├── planning.dag └── planning_navi.dag ├── data ├── garage.csv ├── model │ ├── cpu_test_model_cnn.pt │ ├── cpu_test_model_cnn_lstm.pt │ ├── gpu_test_model_cnn.pt │ └── gpu_test_model_cnn_lstm.pt └── semantic_map │ ├── sunnyvale_with_two_offices.png │ └── sunnyvale_with_two_offices_speedlimit.png ├── images ├── .DS_Store ├── DeadEndScenario.png ├── EnterDeadEnd.png ├── OutDeadEnd.png ├── TuringAround1.png ├── TuringAround2.png ├── architecture.png ├── architecture_5.5.png ├── e2e_mode.png ├── emergency.png ├── hybrid_mode.png ├── park_and_go.png ├── parking1.png ├── parking2.png ├── planning_default.png ├── protected.png ├── pull_over.png ├── pull_over1.png ├── pull_over2.png ├── pull_over3.png ├── sidepass.png ├── sim_e2e.gif ├── sim_hybrid.gif ├── sim_rule.gif └── unprotected1.png ├── integration_tests ├── BUILD ├── garage_test.cc ├── navigation_mode_test.cc ├── planning_test_base.cc ├── planning_test_base.h ├── sunnyvale_big_loop_test.cc └── sunnyvale_loop_test.cc ├── lattice ├── behavior │ ├── BUILD │ ├── feasible_region.cc │ ├── feasible_region.h │ ├── path_time_graph.cc │ ├── path_time_graph.h │ ├── prediction_querier.cc │ └── prediction_querier.h └── trajectory_generation │ ├── BUILD │ ├── backup_trajectory_generator.cc │ ├── backup_trajectory_generator.h │ ├── end_condition_sampler.cc │ ├── end_condition_sampler.h │ ├── lateral_osqp_optimizer.cc │ ├── lateral_osqp_optimizer.h │ ├── lateral_qp_optimizer.cc │ ├── lateral_qp_optimizer.h │ ├── lattice_trajectory1d.cc │ ├── lattice_trajectory1d.h │ ├── piecewise_braking_trajectory_generator.cc │ ├── piecewise_braking_trajectory_generator.h │ ├── trajectory1d_generator.cc │ ├── trajectory1d_generator.h │ ├── trajectory_combiner.cc │ ├── trajectory_combiner.h │ ├── trajectory_evaluator.cc │ └── trajectory_evaluator.h ├── launch └── planning.launch ├── learning_based ├── img_feature_renderer │ ├── BUILD │ ├── birdview_img_feature_renderer.cc │ └── birdview_img_feature_renderer.h └── model_inference │ ├── BUILD │ ├── model_inference.h │ ├── model_inference_test.cc │ ├── trajectory_imitation_libtorch_inference.cc │ └── trajectory_imitation_libtorch_inference.h ├── math ├── BUILD ├── curve1d │ ├── BUILD │ ├── cubic_polynomial_curve1d.cc │ ├── cubic_polynomial_curve1d.h │ ├── cubic_polynomial_curve1d_test.cc │ ├── curve1d.h │ ├── piecewise_quintic_spiral_path.cc │ ├── piecewise_quintic_spiral_path.h │ ├── piecewise_quintic_spiral_path_test.cc │ ├── polynomial_curve1d.h │ ├── quartic_polynomial_curve1d.cc │ ├── quartic_polynomial_curve1d.h │ ├── quartic_polynomial_curve1d_test.cc │ ├── quintic_polynomial_curve1d.cc │ ├── quintic_polynomial_curve1d.h │ ├── quintic_polynomial_curve1d_test.cc │ ├── quintic_spiral_path.cc │ ├── quintic_spiral_path.h │ └── quintic_spiral_path_with_derivation.h ├── curve_math.cc ├── curve_math.h ├── curve_math_test.cc ├── discrete_points_math.cc ├── discrete_points_math.h ├── discretized_points_smoothing │ ├── BUILD │ ├── cos_theta_ipopt_interface.cc │ ├── cos_theta_ipopt_interface.h │ ├── cos_theta_smoother.cc │ ├── cos_theta_smoother.h │ ├── fem_pos_deviation_ipopt_interface.cc │ ├── fem_pos_deviation_ipopt_interface.h │ ├── fem_pos_deviation_osqp_interface.cc │ ├── fem_pos_deviation_osqp_interface.h │ ├── fem_pos_deviation_smoother.cc │ ├── fem_pos_deviation_smoother.h │ ├── fem_pos_deviation_sqp_osqp_interface.cc │ └── fem_pos_deviation_sqp_osqp_interface.h ├── piecewise_jerk │ ├── BUILD │ ├── piecewise_jerk_path_problem.cc │ ├── piecewise_jerk_path_problem.h │ ├── piecewise_jerk_problem.cc │ ├── piecewise_jerk_problem.h │ ├── piecewise_jerk_speed_problem.cc │ └── piecewise_jerk_speed_problem.h ├── polynomial_xd.cc ├── polynomial_xd.h └── smoothing_spline │ ├── BUILD │ ├── affine_constraint.cc │ ├── affine_constraint.h │ ├── osqp_spline_1d_solver.cc │ ├── osqp_spline_1d_solver.h │ ├── osqp_spline_1d_solver_test.cc │ ├── osqp_spline_2d_solver.cc │ ├── osqp_spline_2d_solver.h │ ├── osqp_spline_2d_solver_test.cc │ ├── spline_1d.cc │ ├── spline_1d.h │ ├── spline_1d_constraint.cc │ ├── spline_1d_constraint.h │ ├── spline_1d_constraint_test.cc │ ├── spline_1d_kernel.cc │ ├── spline_1d_kernel.h │ ├── spline_1d_kernel_test.cc │ ├── spline_1d_seg.cc │ ├── spline_1d_seg.h │ ├── spline_1d_solver.cc │ ├── spline_1d_solver.h │ ├── spline_2d.cc │ ├── spline_2d.h │ ├── spline_2d_constraint.cc │ ├── spline_2d_constraint.h │ ├── spline_2d_constraint_test.cc │ ├── spline_2d_kernel.cc │ ├── spline_2d_kernel.h │ ├── spline_2d_kernel_test.cc │ ├── spline_2d_seg.cc │ ├── spline_2d_seg.h │ ├── spline_2d_solver.h │ ├── spline_seg_kernel.cc │ └── spline_seg_kernel.h ├── navi └── decider │ ├── BUILD │ ├── navi_obstacle_decider.cc │ ├── navi_obstacle_decider.h │ ├── navi_obstacle_decider_test.cc │ ├── navi_path_decider.cc │ ├── navi_path_decider.h │ ├── navi_path_decider_test.cc │ ├── navi_speed_decider.cc │ ├── navi_speed_decider.h │ ├── navi_speed_decider_test.cc │ ├── navi_speed_ts_graph.cc │ ├── navi_speed_ts_graph.h │ ├── navi_speed_ts_graph_test.cc │ ├── navi_task.cc │ └── navi_task.h ├── navi_planning.cc ├── navi_planning.h ├── on_lane_planning.cc ├── on_lane_planning.h ├── open_space ├── coarse_trajectory_generator │ ├── BUILD │ ├── grid_search.cc │ ├── grid_search.h │ ├── hybrid_a_star.cc │ ├── hybrid_a_star.h │ ├── hybrid_a_star_test.cc │ ├── node3d.cc │ ├── node3d.h │ ├── node3d_test.cc │ ├── reeds_shepp_path.cc │ ├── reeds_shepp_path.h │ └── reeds_shepp_path_test.cc ├── tools │ ├── BUILD │ ├── distance_approach_problem_wrapper.cc │ ├── hybrid_a_star_wrapper.cc │ └── open_space_roi_wrapper.cc └── trajectory_smoother │ ├── BUILD │ ├── distance_approach_interface.h │ ├── distance_approach_ipopt_cuda_interface.cc │ ├── distance_approach_ipopt_cuda_interface.h │ ├── distance_approach_ipopt_cuda_interface_test.cc │ ├── distance_approach_ipopt_fixed_dual_interface.cc │ ├── distance_approach_ipopt_fixed_dual_interface.h │ ├── distance_approach_ipopt_fixed_ts_interface.cc │ ├── distance_approach_ipopt_fixed_ts_interface.h │ ├── distance_approach_ipopt_interface.cc │ ├── distance_approach_ipopt_interface.h │ ├── distance_approach_ipopt_interface_test.cc │ ├── distance_approach_ipopt_relax_end_interface.cc │ ├── distance_approach_ipopt_relax_end_interface.h │ ├── distance_approach_ipopt_relax_end_slack_interface.cc │ ├── distance_approach_ipopt_relax_end_slack_interface.h │ ├── distance_approach_problem.cc │ ├── distance_approach_problem.h │ ├── distance_approach_problem_test.cc │ ├── dual_variable_warm_start_ipopt_interface.cc │ ├── dual_variable_warm_start_ipopt_interface.h │ ├── dual_variable_warm_start_ipopt_interface_test.cc │ ├── dual_variable_warm_start_ipopt_qp_interface.cc │ ├── dual_variable_warm_start_ipopt_qp_interface.h │ ├── dual_variable_warm_start_osqp_interface.cc │ ├── dual_variable_warm_start_osqp_interface.h │ ├── dual_variable_warm_start_osqp_interface_test.cc │ ├── dual_variable_warm_start_problem.cc │ ├── dual_variable_warm_start_problem.h │ ├── dual_variable_warm_start_problem_test.cc │ ├── dual_variable_warm_start_slack_osqp_interface.cc │ ├── dual_variable_warm_start_slack_osqp_interface.h │ ├── iterative_anchoring_smoother.cc │ ├── iterative_anchoring_smoother.h │ ├── planning_block.cu │ └── planning_block.h ├── pipeline ├── BUILD ├── evaluate_trajectory.cc ├── evaluator.cc ├── evaluator.h ├── evaluator_logger.h └── record_to_learning_data.cc ├── planner ├── BUILD ├── lattice │ ├── BUILD │ ├── lattice_planner.cc │ └── lattice_planner.h ├── navi │ ├── BUILD │ ├── navi_planner.cc │ ├── navi_planner.h │ └── navi_planner_test.cc ├── navi_planner_dispatcher.cc ├── navi_planner_dispatcher.h ├── navi_planner_dispatcher_test.cc ├── on_lane_planner_dispatcher.cc ├── on_lane_planner_dispatcher.h ├── on_lane_planner_dispatcher_test.cc ├── planner.h ├── planner_dispatcher.cc ├── planner_dispatcher.h ├── public_road │ ├── BUILD │ ├── public_road_planner.cc │ ├── public_road_planner.h │ └── public_road_planner_test.cc └── rtk │ ├── BUILD │ ├── rtk_replay_planner.cc │ ├── rtk_replay_planner.h │ └── rtk_replay_planner_test.cc ├── planning-gpu.BUILD ├── planning.BUILD ├── planning_base.cc ├── planning_base.h ├── planning_component.cc ├── planning_component.h ├── proto ├── BUILD ├── auto_tuning_model_input.proto ├── auto_tuning_raw_feature.proto ├── ipopt_return_status.proto ├── lattice_structure.proto ├── learning_data.proto ├── math │ ├── BUILD │ ├── cos_theta_smoother_config.proto │ ├── fem_pos_deviation_smoother_config.proto │ └── qp_problem.proto ├── open_space_task_config.proto ├── planner_open_space_config.proto ├── planning_config.proto ├── planning_semantic_map_config.proto ├── planning_stats.proto ├── planning_status.proto ├── reference_line_smoother_config.proto ├── st_drivable_boundary.proto ├── task_config.proto └── traffic_rule_config.proto ├── reference_line ├── BUILD ├── discrete_points_reference_line_smoother.cc ├── discrete_points_reference_line_smoother.h ├── discrete_points_reference_line_smoother_test.cc ├── qp_spline_reference_line_smoother.cc ├── qp_spline_reference_line_smoother.h ├── qp_spline_reference_line_smoother_test.cc ├── reference_line.cc ├── reference_line.h ├── reference_line_provider.cc ├── reference_line_provider.h ├── reference_line_smoother.h ├── reference_point.cc ├── reference_point.h ├── smoother_util.cc ├── spiral_problem_interface.cc ├── spiral_problem_interface.h ├── spiral_reference_line_smoother.cc ├── spiral_reference_line_smoother.h ├── spiral_reference_line_smoother_test.cc └── spiral_smoother_util.cc ├── scenarios ├── BUILD ├── bare_intersection │ └── unprotected │ │ ├── BUILD │ │ ├── bare_intersection_unprotected_scenario.cc │ │ ├── bare_intersection_unprotected_scenario.h │ │ ├── bare_intersection_unprotected_scenario_test.cc │ │ ├── stage_approach.cc │ │ ├── stage_approach.h │ │ ├── stage_approach_test.cc │ │ ├── stage_intersection_cruise.cc │ │ └── stage_intersection_cruise.h ├── common │ ├── BUILD │ ├── stage_intersection_cruise_impl.cc │ └── stage_intersection_cruise_impl.h ├── emergency │ ├── emergency_pull_over │ │ ├── BUILD │ │ ├── emergency_pull_over_scenario.cc │ │ ├── emergency_pull_over_scenario.h │ │ ├── emergency_pull_over_scenario_test.cc │ │ ├── stage_approach.cc │ │ ├── stage_approach.h │ │ ├── stage_approach_test.cc │ │ ├── stage_slow_down.cc │ │ ├── stage_slow_down.h │ │ ├── stage_slow_down_test.cc │ │ ├── stage_standby.cc │ │ ├── stage_standby.h │ │ └── stage_standby_test.cc │ └── emergency_stop │ │ ├── BUILD │ │ ├── emergency_stop_scenario.cc │ │ ├── emergency_stop_scenario.h │ │ ├── emergency_stop_scenario_test.cc │ │ ├── stage_approach.cc │ │ ├── stage_approach.h │ │ ├── stage_approach_test.cc │ │ ├── stage_standby.cc │ │ ├── stage_standby.h │ │ └── stage_standby_test.cc ├── lane_follow │ ├── BUILD │ ├── lane_follow_scenario.cc │ ├── lane_follow_scenario.h │ ├── lane_follow_scenario_test.cc │ ├── lane_follow_stage.cc │ └── lane_follow_stage.h ├── learning_model │ ├── BUILD │ ├── learning_model_sample_scenario.cc │ ├── learning_model_sample_scenario.h │ ├── learning_model_sample_scenario_test.cc │ ├── stage_run.cc │ ├── stage_run.h │ └── stage_run_test.cc ├── narrow_street_u_turn │ ├── BUILD │ ├── narrow_street_u_turn_scenario.cc │ ├── narrow_street_u_turn_scenario.h │ └── narrow_street_u_turn_scenario_test.cc ├── park │ ├── pull_over │ │ ├── BUILD │ │ ├── pull_over_scenario.cc │ │ ├── pull_over_scenario.h │ │ ├── pull_over_scenario_test.cc │ │ ├── stage_approach.cc │ │ ├── stage_approach.h │ │ ├── stage_approach_test.cc │ │ ├── stage_retry_approach_parking.cc │ │ ├── stage_retry_approach_parking.h │ │ ├── stage_retry_approach_parking_test.cc │ │ ├── stage_retry_parking.cc │ │ ├── stage_retry_parking.h │ │ └── stage_retry_parking_test.cc │ └── valet_parking │ │ ├── BUILD │ │ ├── stage_approaching_parking_spot.cc │ │ ├── stage_approaching_parking_spot.h │ │ ├── stage_approaching_parking_spot_test.cc │ │ ├── stage_parking.cc │ │ ├── stage_parking.h │ │ ├── stage_parking_test.cc │ │ ├── valet_parking_scenario.cc │ │ ├── valet_parking_scenario.h │ │ └── valet_parking_scenario_test.cc ├── park_and_go │ ├── BUILD │ ├── park_and_go_scenario.cc │ ├── park_and_go_scenario.h │ ├── park_and_go_scenario_test.cc │ ├── stage_adjust.cc │ ├── stage_adjust.h │ ├── stage_adjust_test.cc │ ├── stage_check.cc │ ├── stage_check.h │ ├── stage_check_test.cc │ ├── stage_cruise.cc │ ├── stage_cruise.h │ ├── stage_cruise_test.cc │ ├── stage_pre_cruise.cc │ ├── stage_pre_cruise.h │ └── stage_pre_cruise_test.cc ├── scenario.cc ├── scenario.h ├── scenario_manager.cc ├── scenario_manager.h ├── stage.cc ├── stage.h ├── stop_sign │ └── unprotected │ │ ├── BUILD │ │ ├── stage_creep.cc │ │ ├── stage_creep.h │ │ ├── stage_creep_test.cc │ │ ├── stage_intersection_cruise.cc │ │ ├── stage_intersection_cruise.h │ │ ├── stage_pre_stop.cc │ │ ├── stage_pre_stop.h │ │ ├── stage_pre_stop_test.cc │ │ ├── stage_stop.cc │ │ ├── stage_stop.h │ │ ├── stage_stop_test.cc │ │ ├── stop_sign_unprotected_scenario.cc │ │ ├── stop_sign_unprotected_scenario.h │ │ └── stop_sign_unprotected_scenario_test.cc ├── traffic_light │ ├── protected │ │ ├── BUILD │ │ ├── stage_approach.cc │ │ ├── stage_approach.h │ │ ├── stage_approach_test.cc │ │ ├── stage_intersection_cruise.cc │ │ ├── stage_intersection_cruise.h │ │ ├── traffic_light_protected_scenario.cc │ │ ├── traffic_light_protected_scenario.h │ │ └── traffic_light_protected_scenario_test.cc │ ├── unprotected_left_turn │ │ ├── BUILD │ │ ├── stage_approach.cc │ │ ├── stage_approach.h │ │ ├── stage_approach_test.cc │ │ ├── stage_creep.cc │ │ ├── stage_creep.h │ │ ├── stage_creep_test.cc │ │ ├── stage_intersection_cruise.cc │ │ ├── stage_intersection_cruise.h │ │ ├── traffic_light_unprotected_left_turn_scenario.cc │ │ ├── traffic_light_unprotected_left_turn_scenario.h │ │ └── traffic_light_unprotected_left_turn_scenario_test.cc │ └── unprotected_right_turn │ │ ├── BUILD │ │ ├── stage_creep.cc │ │ ├── stage_creep.h │ │ ├── stage_creep_test.cc │ │ ├── stage_intersection_cruise.cc │ │ ├── stage_intersection_cruise.h │ │ ├── stage_stop.cc │ │ ├── stage_stop.h │ │ ├── stage_stop_test.cc │ │ ├── traffic_light_unprotected_right_turn_scenario.cc │ │ ├── traffic_light_unprotected_right_turn_scenario.h │ │ └── traffic_light_unprotected_right_turn_scenario_test.cc ├── util │ ├── BUILD │ ├── util.cc │ └── util.h └── yield_sign │ ├── BUILD │ ├── stage_approach.cc │ ├── stage_approach.h │ ├── stage_approach_test.cc │ ├── stage_creep.cc │ ├── stage_creep.h │ ├── stage_creep_test.cc │ ├── yield_sign_scenario.cc │ ├── yield_sign_scenario.h │ └── yield_sign_scenario_test.cc ├── tasks ├── BUILD ├── deciders │ ├── BUILD │ ├── creep_decider │ │ ├── BUILD │ │ ├── creep_decider.cc │ │ ├── creep_decider.h │ │ └── creep_decider_test.cc │ ├── decider.cc │ ├── decider.h │ ├── lane_change_decider │ │ ├── BUILD │ │ ├── lane_change_decider.cc │ │ └── lane_change_decider.h │ ├── open_space_decider │ │ ├── BUILD │ │ ├── open_space_fallback_decider.cc │ │ ├── open_space_fallback_decider.h │ │ ├── open_space_fallback_decider_test.cc │ │ ├── open_space_pre_stop_decider.cc │ │ ├── open_space_pre_stop_decider.h │ │ ├── open_space_roi_decider.cc │ │ ├── open_space_roi_decider.h │ │ └── open_space_roi_decider_test.cc │ ├── path_assessment_decider │ │ ├── BUILD │ │ ├── path_assessment_decider.cc │ │ └── path_assessment_decider.h │ ├── path_bounds_decider │ │ ├── BUILD │ │ ├── path_bounds_decider.cc │ │ ├── path_bounds_decider.h │ │ └── path_bounds_decider_test.cc │ ├── path_decider │ │ ├── BUILD │ │ ├── path_decider.cc │ │ └── path_decider.h │ ├── path_lane_borrow_decider │ │ ├── BUILD │ │ ├── path_lane_borrow_decider.cc │ │ └── path_lane_borrow_decider.h │ ├── path_reference_decider │ │ ├── BUILD │ │ ├── path_reference_decider.cc │ │ └── path_reference_decider.h │ ├── path_reuse_decider │ │ ├── BUILD │ │ ├── path_reuse_decider.cc │ │ ├── path_reuse_decider.h │ │ └── path_reuse_decider_test.cc │ ├── rss_decider │ │ ├── BUILD │ │ ├── rss_decider.cc │ │ ├── rss_decider.h │ │ └── rss_decider_test.cc │ ├── rule_based_stop_decider │ │ ├── BUILD │ │ ├── rule_based_stop_decider.cc │ │ └── rule_based_stop_decider.h │ ├── speed_bounds_decider │ │ ├── BUILD │ │ ├── speed_bounds_decider.cc │ │ ├── speed_bounds_decider.h │ │ ├── speed_limit_decider.cc │ │ ├── speed_limit_decider.h │ │ ├── st_boundary_mapper.cc │ │ ├── st_boundary_mapper.h │ │ └── st_boundary_mapper_test.cc │ ├── speed_decider │ │ ├── BUILD │ │ ├── speed_decider.cc │ │ └── speed_decider.h │ ├── st_bounds_decider │ │ ├── BUILD │ │ ├── st_bounds_decider.cc │ │ ├── st_bounds_decider.h │ │ ├── st_driving_limits.cc │ │ ├── st_driving_limits.h │ │ ├── st_guide_line.cc │ │ ├── st_guide_line.h │ │ ├── st_obstacles_processor.cc │ │ └── st_obstacles_processor.h │ └── utils │ │ ├── BUILD │ │ ├── path_decider_obstacle_utils.cc │ │ └── path_decider_obstacle_utils.h ├── learning_model │ ├── BUILD │ ├── learning_model_inference_task.cc │ ├── learning_model_inference_task.h │ ├── learning_model_inference_task_test.cc │ ├── learning_model_inference_trajectory_task.cc │ ├── learning_model_inference_trajectory_task.h │ └── learning_model_inference_trajectory_task_test.cc ├── optimizers │ ├── BUILD │ ├── open_space_trajectory_generation │ │ ├── BUILD │ │ ├── open_space_trajectory_optimizer.cc │ │ ├── open_space_trajectory_optimizer.h │ │ ├── open_space_trajectory_optimizer_test.cc │ │ ├── open_space_trajectory_provider.cc │ │ ├── open_space_trajectory_provider.h │ │ └── open_space_trajectory_provider_test.cc │ ├── open_space_trajectory_partition │ │ ├── BUILD │ │ ├── open_space_trajectory_partition.cc │ │ ├── open_space_trajectory_partition.h │ │ └── open_space_trajectory_partition_test.cc │ ├── path_optimizer.cc │ ├── path_optimizer.h │ ├── path_time_heuristic │ │ ├── BUILD │ │ ├── dp_st_cost.cc │ │ ├── dp_st_cost.h │ │ ├── gridded_path_time_graph.cc │ │ ├── gridded_path_time_graph.h │ │ ├── gridded_path_time_graph_test.cc │ │ ├── path_time_heuristic_optimizer.cc │ │ ├── path_time_heuristic_optimizer.h │ │ ├── st_graph_point.cc │ │ └── st_graph_point.h │ ├── piecewise_jerk_path │ │ ├── BUILD │ │ ├── piecewise_jerk_path_ipopt_solver.cc │ │ ├── piecewise_jerk_path_ipopt_solver.h │ │ ├── piecewise_jerk_path_optimizer.cc │ │ └── piecewise_jerk_path_optimizer.h │ ├── piecewise_jerk_speed │ │ ├── BUILD │ │ ├── piecewise_jerk_speed_nonlinear_ipopt_interface.cc │ │ ├── piecewise_jerk_speed_nonlinear_ipopt_interface.h │ │ ├── piecewise_jerk_speed_nonlinear_optimizer.cc │ │ ├── piecewise_jerk_speed_nonlinear_optimizer.h │ │ ├── piecewise_jerk_speed_optimizer.cc │ │ └── piecewise_jerk_speed_optimizer.h │ ├── road_graph │ │ ├── comparable_cost.h │ │ ├── comparable_cost_test.cc │ │ ├── dp_road_graph.cc │ │ ├── dp_road_graph.h │ │ ├── trajectory_cost.cc │ │ ├── trajectory_cost.h │ │ ├── trajectory_cost_test.cc │ │ ├── waypoint_sampler.cc │ │ └── waypoint_sampler.h │ ├── speed_optimizer.cc │ ├── speed_optimizer.h │ ├── trajectory_optimizer.cc │ └── trajectory_optimizer.h ├── task.cc ├── task.h ├── task_factory.cc ├── task_factory.h └── utils │ ├── BUILD │ ├── st_gap_estimator.cc │ └── st_gap_estimator.h ├── testdata ├── common │ ├── history_01.pb.txt │ ├── history_02.pb.txt │ └── sample_prediction.pb.txt ├── conf │ └── open_space_standard_parking_lot.pb.txt ├── garage.csv ├── garage_error.csv ├── garage_map │ └── base_map.txt ├── garage_test │ ├── 1_chassis.pb.txt │ ├── 1_localization.pb.txt │ ├── 1_prediction.pb.txt │ ├── follow_chassis.pb.txt │ ├── follow_localization.pb.txt │ ├── follow_prediction.pb.txt │ ├── garage_chassis.pb.txt │ ├── garage_localization.pb.txt │ ├── garage_prediction.pb.txt │ ├── garage_routing.pb.txt │ ├── out_of_map_chassis.pb.txt │ ├── out_of_map_localization.pb.txt │ ├── out_of_map_prediction.pb.txt │ ├── result_dest_stop_01_0.pb.txt │ ├── result_follow_0.pb.txt │ ├── result_out_of_map_0.pb.txt │ ├── result_planning_componnet_stop_obstacle_0.pb.txt │ ├── result_stop_obstacle_0.pb.txt │ ├── result_stop_over_line_0.pb.txt │ ├── stop_dest_chassis.pb.txt │ ├── stop_dest_localization.pb.txt │ ├── stop_dest_prediction.pb.txt │ ├── stop_obstacle_chassis.pb.txt │ ├── stop_obstacle_localization.pb.txt │ └── stop_obstacle_prediction.pb.txt ├── model_inference_test │ ├── learning_data_sunnyvale_with_two_offices.bin │ ├── test_libtorch_inference_task_config.pb.txt │ └── test_tensorrt_inference_task_config.pb.txt ├── navigation_mode_test │ ├── 1_chassis.pb.txt │ ├── 1_localization.pb.txt │ ├── 1_relative_map.pb.txt │ └── result_cruise_0.pb.txt ├── sunnyvale_big_loop_test │ ├── 101_chassis.pb.txt │ ├── 101_localization.pb.txt │ ├── 101_prediction.pb.txt │ ├── 101_routing.pb.txt │ ├── 102_chassis.pb.txt │ ├── 102_localization.pb.txt │ ├── 102_prediction.pb.txt │ ├── 102_routing.pb.txt │ ├── 103_chassis.pb.txt │ ├── 103_localization.pb.txt │ ├── 103_prediction.pb.txt │ ├── 103_routing.pb.txt │ ├── 12_chassis.pb.txt │ ├── 12_localization.pb.txt │ ├── 12_prediction.pb.txt │ ├── 12_routing.pb.txt │ ├── 13_chassis.pb.txt │ ├── 13_localization.pb.txt │ ├── 13_prediction.pb.txt │ ├── 14_chassis.pb.txt │ ├── 14_localization.pb.txt │ ├── 14_prediction.pb.txt │ ├── 14_routing.pb.txt │ ├── 1_chassis.pb.txt │ ├── 1_localization.pb.txt │ ├── 1_prediction.pb.txt │ ├── 1_routing.pb.txt │ ├── 200_chassis.pb.txt │ ├── 200_localization.pb.txt │ ├── 200_prediction.pb.txt │ ├── 200_routing.pb.txt │ ├── 201_chassis.pb.txt │ ├── 201_localization.pb.txt │ ├── 201_prediction.pb.txt │ ├── 201_routing.pb.txt │ ├── 2_chassis.pb.txt │ ├── 2_localization.pb.txt │ ├── 2_prediction.pb.txt │ ├── 2_routing.pb.txt │ ├── 300_chassis.pb.txt │ ├── 300_localization.pb.txt │ ├── 300_routing.pb.txt │ ├── 300_traffic_light.pb.txt │ ├── 3_chassis.pb.txt │ ├── 3_localization.pb.txt │ ├── 3_prediction.pb.txt │ ├── 3_routing.pb.txt │ ├── 400_chassis.pb.txt │ ├── 400_localization.pb.txt │ ├── 400_prediction.pb.txt │ ├── 400_routing.pb.txt │ ├── 4_chassis.pb.txt │ ├── 4_localization.pb.txt │ ├── 4_prediction.pb.txt │ ├── 500_chassis.pb.txt │ ├── 500_localization.pb.txt │ ├── 500_prediction.pb.txt │ ├── 500_routing.pb.txt │ ├── 5_chassis.pb.txt │ ├── 5_localization.pb.txt │ ├── 5_prediction.pb.txt │ ├── 5_routing.pb.txt │ ├── 600_chassis.pb.txt │ ├── 600_localization.pb.txt │ ├── 600_prediction.pb.txt │ ├── 600_routing.pb.txt │ ├── 601_chassis.pb.txt │ ├── 601_localization.pb.txt │ ├── 601_prediction.pb.txt │ ├── 601_routing.pb.txt │ ├── 6_chassis.pb.txt │ ├── 6_localization.pb.txt │ ├── 6_prediction.pb.txt │ ├── 7_chassis.pb.txt │ ├── 7_localization.pb.txt │ ├── 7_prediction.pb.txt │ ├── 8_chassis.pb.txt │ ├── 8_localization.pb.txt │ ├── 8_prediction.pb.txt │ ├── 8_routing.pb.txt │ ├── result_change_lane_abort_for_fast_back_vehicle_0.pb.txt │ ├── result_crosswalk_01_0.pb.txt │ ├── result_crosswalk_02_0.pb.txt │ ├── result_crosswalk_02_1.pb.txt │ ├── result_destination_stop_01_0.pb.txt │ ├── result_keep_clear_01_0.pb.txt │ ├── result_keep_clear_02_0.pb.txt │ ├── result_keep_clear_03_0.pb.txt │ ├── result_stop_sign_01_0.pb.txt │ ├── result_stop_sign_02_0.pb.txt │ ├── result_stop_sign_03_0.pb.txt │ ├── result_stop_sign_03_1.pb.txt │ └── result_traffic_light_green_0.pb.txt ├── sunnyvale_loop_test │ ├── 10_chassis.pb.txt │ ├── 10_localization.pb.txt │ ├── 10_prediction.pb.txt │ ├── 10_routing.pb.txt │ ├── 11_chassis.pb.txt │ ├── 11_localization.pb.txt │ ├── 11_prediction.pb.txt │ ├── 11_routing.pb.txt │ ├── 12_chassis.pb.txt │ ├── 12_localization.pb.txt │ ├── 12_prediction.pb.txt │ ├── 12_routing.pb.txt │ ├── 13_chassis.pb.txt │ ├── 13_localization.pb.txt │ ├── 13_prediction.pb.txt │ ├── 13_routing.pb.txt │ ├── 1_chassis.pb.txt │ ├── 1_localization.pb.txt │ ├── 1_prediction.pb.txt │ ├── 1_routing.pb.txt │ ├── 2_chassis.pb.txt │ ├── 2_localization.pb.txt │ ├── 2_prediction.pb.txt │ ├── 2_routing.pb.txt │ ├── 3_chassis.pb.txt │ ├── 3_localization.pb.txt │ ├── 3_prediction.pb.txt │ ├── 3_routing.pb.txt │ ├── 4_chassis.pb.txt │ ├── 4_localization.pb.txt │ ├── 4_prediction.pb.txt │ ├── 4_routing.pb.txt │ ├── 5_chassis.pb.txt │ ├── 5_localization.pb.txt │ ├── 5_prediction.pb.txt │ ├── 5_routing.pb.txt │ ├── 6_chassis.pb.txt │ ├── 6_localization.pb.txt │ ├── 6_prediction.pb.txt │ ├── 6_routing.pb.txt │ ├── 7_chassis.pb.txt │ ├── 7_localization.pb.txt │ ├── 7_prediction.pb.txt │ ├── 7_routing.pb.txt │ ├── 8_chassis.pb.txt │ ├── 8_localization.pb.txt │ ├── 8_prediction.pb.txt │ ├── 8_routing.pb.txt │ ├── 8_traffic_light.pb.txt │ ├── 9_chassis.pb.txt │ ├── 9_localization.pb.txt │ ├── 9_prediction.pb.txt │ ├── 9_routing.pb.txt │ ├── result_avoid_change_left_0.pb.txt │ ├── result_change_lane_0.pb.txt │ ├── result_change_lane_failback_0.pb.txt │ ├── result_cruise_0.pb.txt │ ├── result_follow_01_0.pb.txt │ ├── result_follow_02_0.pb.txt │ ├── result_follow_03_0.pb.txt │ ├── result_mission_complete_0.pb.txt │ ├── result_nudge_0.pb.txt │ ├── result_qp_path_failure_0.pb.txt │ ├── result_rightturn_01_0.pb.txt │ ├── result_rightturn_with_red_light_0.pb.txt │ ├── result_slowdown_01_0.pb.txt │ └── result_stop_0.pb.txt └── trajectory_data │ └── standard_trajectory.pb.txt ├── tools ├── BUILD ├── inference_demo.cc └── pad_terminal.cc ├── traffic_rules ├── BUILD ├── backside_vehicle.cc ├── backside_vehicle.h ├── crosswalk.cc ├── crosswalk.h ├── destination.cc ├── destination.h ├── keep_clear.cc ├── keep_clear.h ├── reference_line_end.cc ├── reference_line_end.h ├── rerouting.cc ├── rerouting.h ├── stop_sign.cc ├── stop_sign.h ├── traffic_decider.cc ├── traffic_decider.h ├── traffic_light.cc ├── traffic_light.h ├── traffic_rule.h ├── yield_sign.cc └── yield_sign.h └── tuning ├── BUILD ├── autotuning_base_model.h ├── autotuning_feature_builder.h ├── autotuning_mlp_net_model.cc ├── autotuning_mlp_net_model.h ├── autotuning_mlp_net_model_test.cc ├── autotuning_raw_feature_generator.cc ├── autotuning_raw_feature_generator.h ├── autotuning_raw_feature_generator_test.cc └── 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