PATH PLANNING METHOD AND DEVICE, CONTROLLER, AND MOVING OBJECT

摘要

A path planning method and device, a controller, and a moving object, relating to the field of automated driving. The method comprises: obtaining the positions and motion attribute information of obstacles (2, 3, 4, 5) around a moving object (1), the motion attribute information being used for describing the attributes and motion states of the obstacles (2, 3, 4, 5) and the motion state of the moving object (1); determining the repulsion loop coefficients of the obstacles (2, 3, 4, 5) according to the positions and motion attribute information of the obstacles (2, 3, 4, 5), the repulsion loop coefficients being used for identifying hazard levels of the moving object (1) colliding with the obstacles (2, 3, 4, 5); and planning a traveling path of the moving object (1) on a first road section according to the repulsion loop coefficients. Therefore, the driving experience is improved.