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

摘要： 实现运货车智能化重要的一环是程序设计。文章通过对智能运货车分模块编程，实现车辆 的感知、预测、定位、路由寻经、规划、控制等功能。规划模块是核心模块，根据实际情况做出 车道线保持、超车、停止、左转、右转、泊车等行为决策，分别编写各行为的执行程序，决策时 调用相应的程序，实现了智能运货车的程序设计。仿真结果显示该设计的效果良好。

关键词: 规划；规划器；场景；决策；优化