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Behaviour Planning

Custom Behaviour Planning module based on Hierarchical Behaviour Trees for Apollo 6.0

Repo structure

BehaviourPlanning
│ 
├── apollo - Folder with the code
│    
├── docs - Documentation
│   ├── apollo_docs - Documentation related to the Apollo system
|   |   ├── apollo_with_inno_sim - How to run Apollo with the Innopolis Simulator
|   |   ├── map_module - Apollo Map module documentation
|   |   ├── planning_module - Apollo Planning module documentation
│   │   └── routing_module - Apollo Routing module documentation
│   └── behaviour_planning - Everything related to the Behaviour Planning approach
├── simulator - Folder for the simulator

Things to check out

Here are some of the things that might be interesting:

Behaviour Tree Planner implementation

The code is located in the BehaviourPlanning/apollo/modules/planning_btree/ folder

BTViz

The tool to visualize behaviour trees:

BTViz example

BTViz code is located in the BehaviourPlanning/apollo/modules/tools/btviz/ folder

Behaviour Tree Planner documentation

Documentation of the proposed behaviour tree planner implementation is in the BehaviourPlanning/docs/behaviour_planning/README.md

Apollo modules documentation

Documentation of Apollo map, routing and planning modules in the BehaviourPlanning/docs folde

Some terminology

  • The self-driving car will be related to as: ADC (Autonomous Driving Vehicle), ego vehicle, the vehicle or the car (if it is clear from the context)

Installation

Clone the repo into some folder:

git clone https://github.com/Sarrasor/BehaviourPlanning.git

I will refer to this folder as BehaviourPlanning from now on

To prepare the environment, check out the BehaviourPlanning/docs/apollo_with_inno_sim/README.md