# 算法

```{toctree}
:maxdepth: 3
:glob:

../../../docs/specs/3d_obstacle_perception_cn
../../../docs/specs/qp_spline_path_optimizer_cn
../../../docs/specs/qp_spline_st_speed_optimizer_cn
../../../docs/specs/reference_line_smoother_cn
../../../docs/specs/traffic_light_cn
```