A method of kinematic motion planning includes accessing a list of a plurality of nodes (108) defining a plurality of potential kinematic path locations between a starting position (110) and an ending position (118) of a vehicle (200). A plurality of constraint sets (114) is determined that apply one or more vehicle motion constraints based on a plurality of spatial regions (118) defined between the starting position (110) and the ending position (118). The constraint sets (114) are applied in determining a plurality of connections (116) between the nodes (108) to form a kinematic motion path (120) based on locations of the nodes (108) relative to the spatial regions (118). The kinematic motion path (120) is output to a dynamic path planner (104) to complete creation of a motion path plan (122) for the vehicle (200).
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