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 (1). The method (400, 500) comprises obtaining a drivable area of a surrounding environment of the vehicle, and generating a path (2) 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 (7, 8) based on a current pose of the vehicle.