关键词: 自动驾驶；局部路径规划；速度规划

Abstract: Autonomous driving generally consists of perception, decision-making, planning, and control modules. With the deepening of research, the role of decision-making and planning in the system becomes more and more obvious. The first thing to be solved in the planning process is to deal with various traffic scenarios. Come up with a reasonable decision-making plan. This paper proposes a design idea that separates path planning and velocity planning for real-time path planning for autonomous driving. Firstly, based on the high-precision map of a closed scene, a number of alternative paths are generated using sampling methods, and the best path is selected in combination with collision detection. Secondly, the generated path is planned based on the comfort level to provide a speed plan that satisfies the comfort, and finally passed Simulation verifies the effectiveness of this method.

Key words: Intelligence; Local route planning; Speed plan