About Planning

[gannan666]

Hi Author, Nice work! When I read your code, I found that there is no part about Planning module, which is Table 7 in your paper, can you please provide the source code for this part，Thanks！

[tongwwt]

For the planning module, you can refer to ST-P3. In our work, we first transform the occupancy into BEV segmentation, then ST-P3 is applied to for motion planning task.