Reactive path planning for autonomous driving

摘要

A method is provided for adaptively regenerating a planned path for an autonomous maneuver maneuver. An object map is generated based on the detected objects on a route. A timer is reset and put into operation. A planned path is created for autonomously maneuvering the vehicle around the detected objects. The vehicle is autonomously maneuvered along the planned path. The object map is updated based on acquired data from the vehicle-based devices. Based on the updated object plan, a security check is performed to determine if the intended path is feasible. The scheduled path is recreated in response to a determination that the existing path is not feasible, otherwise it is determined if the timer has expired. If the timer has not expired, a security check is performed again; otherwise, a return occurs to reschedule the path.