Planning, Mapping, and Control

Path planning, costmaps, geographic map display, vehicle controllers

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 geoplayer function.

  • For vehicle control, you can use lateral and longitudinal controllers that enable autonomous vehicles to follow a planned trajectory.


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Vehicle Costmaps

vehicleCostmapCostmap representing planning space around vehicle
vehicleDimensionsStore vehicle dimensions
checkFreeCheck vehicle costmap for collision-free poses or points
checkOccupiedCheck vehicle costmap for occupied poses or points
getCostsGet cost value of cells in vehicle costmap
setCostsSet cost value of cells in vehicle costmap
inflationCollisionCheckerCollision-checking configuration for costmap based on inflation

Path Planning

pathPlannerRRTConfigure RRT* path planner
planPlan vehicle path using RRT* path planner
checkPathValidityCheck validity of planned vehicle path
driving.PathPlanned vehicle path
interpolateInterpolate poses along planned vehicle path
smoothPathSplineSmooth vehicle path using cubic spline interpolation

Read HERE HD Live Map Data

hereHDLMReaderHERE HD Live Map reader
readRead HERE HD Live Map layer data
plotPlot HERE HD Live Map layer data
hereHDLMConfigurationConfigure HERE HD Live Map reader
hereHDLMCredentialsSet up or delete HERE HD Live Map credentials

Stream Geographic Coordinates

geoplayer Visualize streaming geographic map data
plotPositionDisplay current position in geoplayer figure
plotRouteDisplay continuous route in geoplayer figure
addCustomBasemapAdd custom basemap
removeCustomBasemapRemove custom basemap
lateralControllerStanleyCompute steering angle command for path following using Stanley method


Path Smoother SplineSmooth vehicle path using cubic spline interpolation
Lateral Controller StanleyControl steering angle of vehicle for path following using Stanley method
Longitudinal Controller StanleyControl longitudinal velocity of vehicle using Stanley method


Access HERE HD Live Map Data

Access highly accurate maps designed for automated driving applications.

HERE HD Live Map Layers

The HERE HD Live Map web service provides tiled map layers containing detailed road, lane, and localization information.

Featured Examples