ADAS行车规划用什么算法？Lattice与ApolloEM有何区别？市面上有使用EM做行车的产品吗？ - 知乎
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Lattice 算法在 Apollo 中的应用主要体现在局部路径规划模块中。通过在 Frenet 坐标系下进行状态空间采样、生成候选路径、评估路径并选择最优路径，Lattice 算法能够生成安全、舒适、可行的局部路径。尽管 Lattice 算法存在一些局限性，但在大多数驾驶场景中，它仍然是一种有效的路径规划方法。
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