PATH PLANNING FOR AUTONOMOUS AND SEMI-AUTONOMOUS VEHICLES

摘要

The present disclosure relates to a method (400, 500) for path planning for an autonomous or semi-autonomous vehicle. The method comprises obtaining (402a-d) a drivable area of a surrounding environment of the vehicle, and generating (403a-d, 502) a path (3) within the drivable area for a time step t based on a predefined set of characteristics for the path and a predefined set of constraints. The predefined set of constraints comprise at least one constraint (7a, 7b, 8a, 8b) based on a path (2) generated for a previous time step.