启发函数不一样;“找邻居的依据是lattice”;更新时也是更新的“状态”。 提出Hybrid A*算法的两篇论文: Practical Search Techniques in Path Planning for Autonomous Driving, Dmitri Dolgov, Sebastian Thrun Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments, Dmitri Dolgov, Sebastian Thrun