US 12,325,445 B2
High-definition map-based local path planning method and apparatus for dynamic and static obstacle avoidance
Hyun Myung, Daejeon (KR); Euigon Jung, Daejeon (KR); and Wonho Song, Daejeon (KR)
Assigned to Korea Advanced Institute of Science and Technology, Daejeon (KR)
Filed by Korea Advanced Institute of Science and Technology, Daejeon (KR)
Filed on Jan. 25, 2023, as Appl. No. 18/101,169.
Claims priority of application No. 10-2022-0067049 (KR), filed on May 31, 2022.
Prior Publication US 2024/0001961 A1, Jan. 4, 2024
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0011 (2020.02) [B60W 60/0015 (2020.02); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02); B60W 2556/40 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A high-definition (HD) map-based local path planning method for dynamic and static object avoidance performed by a computer device, the method comprising:
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,
wherein the cost function includes a global-path-following cost for selecting a path candidate group having a smallest lateral offset from the global path,
wherein the generating of the path candidate group comprises determining, as an obstacle, an object that is not mapped to the HD map among objects determined through a sensor, computing a difference in the arc length from a current vehicle to each obstacle, and determining an arc length value of a path depending on presence or absence of the obstacle.