The present invention relates to a path planning method and system for a vehicle. The method comprises obtaining a risk map of a surrounding environment of the vehicle. The risk map is formed based on an actuation capability of the vehicle and a location of free-space areas in the surrounding environment, the actuation capability including an uncertainty estimation for the actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas. Moreover, the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle. The method further comprises obtaining at least one candidate path for the vehicle, determining a total risk value for each candidate path based on the risk parameters of a set of area segments intersected by the at least one path, selecting a candidate path, of the at least one candidate path, fulfilling a risk value criterion, and generating, at an output, a first signal indicative of the selected candidate path.
PATH PLANNING IN AUTONOMOUS DRIVING ENVIRONMENTS
PFADPLANUNG IN AUTONOMEN FAHRUMGEBUNGEN
PLANIFICATION DE TRAJET DANS DES ENVIRONNEMENTS DE CONDUITE AUTONOME
2024-05-08
Patent
Electronic Resource
English
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |