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1. CartesianPlanner CartesianPlanner Public

   ROS 1/C++ planner for autonomous driving on curvy roads. Replay moving traffic in RViz, inspect a DP seed and refine it inside Cartesian corridors with CasADi/IPOPT (IEEE T-ITS 2022).

   C++ 343 99

2. ParkingMotionPlanningTITS21 ParkingMotionPlanningTITS21 Public

   Autonomous parking around irregular obstacles using hybrid A* and lightweight iterative optimization. Includes 115 MATLAB benchmark scenes and a standalone C++ case. IEEE T-ITS.

   C++ 51 12

3. ParkingTrajectoryReplanner ParkingTrajectoryReplanner Public

   《非结构化场景自动驾驶轨迹规划技术》第七章配套代码。用 MATLAB、C++ 或 Python 在 8 组泊车场景中研究新障碍出现后的平行缝合、接缝验证与制动回退。IEEE T-IV, 2022.

   C++ 16 5

4. Adaptive_Pure_Pursuit_Planner Adaptive_Pure_Pursuit_Planner Public

   自适应纯跟踪路径规划（APP）｜MATLAB 与 C++ 同场景对照，观察狭窄弯道中的车身碰撞、引导点修正和最终路径。配套第八章及 IEEE T-IV 论文。

   C++ 25 6

5. CommonParking CommonParking Public

   A common benchmark with 12 static parking cases to test and evaluate parking motion planners

   MATLAB 2

6. EmbodiedFootprints EmbodiedFootprints Public

   《非结构化场景自动驾驶轨迹规划技术》第 11 章及 IEEE T-ITS 论文配套代码。用 MATLAB 或 C++ 求解轨迹，检查相邻配置点之间的车身足迹覆盖。

   MATLAB