Automated Driving Toolbox™ provides several features that support path planning, mapping, and vehicle control.
For planning driving paths, you can use a vehicle costmap and the optimal rapidly exploring random tree (RRT*) motion-planning algorithm. You can also check the validity of the path and smooth the path.
For mapping, you can access and visualize high-definition map
data from the HERE HD Live Map (HERE HDLM) web service. You can
then use this data to develop driving algorithms. You can also
stream geographic coordinates on various maps by using the
For vehicle control, you can use lateral and longitudinal controllers that enable autonomous vehicles to follow a planned trajectory.
|Costmap representing planning space around vehicle|
|Store vehicle dimensions|
|Check vehicle costmap for collision-free poses or points|
|Check vehicle costmap for occupied poses or points|
|Get cost value of cells in vehicle costmap|
|Set cost value of cells in vehicle costmap|
|Collision-checking configuration for costmap based on inflation|
|HERE HD Live Map reader|
|Read HERE HD Live Map layer data|
|Plot HERE HD Live Map layer data|
|Configure HERE HD Live Map reader|
|Set up or delete HERE HD Live Map credentials|
Access highly accurate maps designed for automated driving applications.
The HERE HD Live Map web service provides tiled map layers containing detailed road, lane, and localization information.