公开(公告)号：US20240001961A1

公开(公告)日：2024-01-04

申请号：US18101169

申请日：2023-01-25

Applicant: Korea Advanced Institute of Science and Technology

Inventor： Hyun Myung ,  Euigon Jung ,  Wonho Song

IPC: B60W60/00

CPC classification number: B60W60/0011 ,  B60W60/0015 ,  B60W2556/40 ,  B60W2554/40 ,  B60W2554/20

Abstract: Disclosed is a high-definition (HD) map-based local path planning method and apparatus for dynamic and static object avoidance. An HD map-based local path planning method for dynamic and static object avoidance performed by a computer device includes verifying a position on a global path by parameterizing the global path using an arc length; generating a path candidate group based on the global path; and selecting an optimal path as a path having a smallest cost function related to a global path following from the path candidate group. The cost function includes a global-path-following cost for selecting a path candidate group having a smallest lateral offset from the global path.