A method and an apparatus for path planning, a controller, and a mobile object are provided, and belong to the field of autonomous driving. The method includes: obtaining a location of an obstacle (2, 3, 4, or 5) around a mobile object (1) and motion attribute information, where the motion attribute information is used to describe an attribute and a motion state of the obstacle (2, 3, 4, or 5) and a motion state of the mobile object (1); determining a repulsion ring coefficient of the obstacle (2, 3, 4, or 5) based on the location of the obstacle (2, 3, 4, or 5) and the motion attribute information, where the repulsion ring coefficient is used to identify a hazard level of a collision between the mobile object (1) and the obstacle (2, 3, 4, or 5); and planning a traveling path for the mobile object (1) in a first section based on the repulsion ring coefficient. This improves driving experience.
経路計画のための方法および装置、コントローラ、ならびに移動体
2024-05-08
Patent
Electronic Resource
Japanese