The path planning system projects a plurality of path distance point clouds to a path image to generate a path and distance point composition image, and then input the path and distance point composition image to a deep learning model and a probabilistic graphical model to obtain a path segmentation image. The path planning system obtains an adjacent lane point cloud and a main lane point cloud. The path planning system clusters the adjacent lane point cloud and the main lane point cloud, calculates an adjacent lane cluster center and a main lane cluster center, and transforms a LIDAR coordinates of the adjacent lane cluster center and the main lane cluster center to a car coordinate. The path planning system obtains a changing path and a main path by smoothing the car coordinate, and selects the changing path or the main path as a driving path according to obstacle information.
PATH PLANNING SYSTEM AND PATH PLANNING METHOD THEREOF
2024-07-25
Patent
Electronic Resource
English
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