关键词: 规划；规划器；场景；决策；优化

Abstract: The program design is an important step to realize the intelligentization of freight car. This paper realizes the functions of vehicle perception, prediction, positioning, route searching, planning and control through module programming of intelligent transportation truck. Planning module is the core module, according to the actual situation to make lane line keeping, overtaking, stop, left turn, right turn, parking and other behavior decisions, respectively write the execution program of each behavior, call the corresponding program when the decision, realize the intelligent truck program design. Simulation results show that the design is effective.

Key words: Planning; Planner; Scenario; Deciding; Optimizing