A path planning method and system for a vehicle. The method includes obtaining risk map of a surrounding environment of vehicle. Risk map is formed based on an actuation capability of the vehicle and location of free-space areas in the surrounding environment, actuation capability including uncertainty estimation for actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas. Risk map includes risk parameter for each of a plurality of area segments included in the surrounding environment of the vehicle. Obtaining at least one candidate path for vehicle, determining total risk value for each candidate path based on risk parameters of a set of area segments intersected by the at least one path, selecting a candidate path, of at least one candidate path, fulfilling a risk value criterion, and generating, at an output, a first signal indicative of selected candidate path.
Path planning in autonomous driving environments
05.08.2025
Patent
Elektronische Ressource
Englisch
IPC: | 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |