An Adaptive Path Planning Method for Curved Roads via Three-Dimensional Space-Aware Profiling Maps

Abstract

In modern transportation, autonomous driving technology has emerged as a significant innovation, offering improved safety, efficiency, and convenience. One of its core technologies is path planning, which creates an optimal route for vehicles in various traffic situations, ensuring they arrive safely and efficiently. However, existing path planning methods suffer from inflexible and inefficient road sampling, and limitations in path expression due to curve models. In this paper, we introduce a novel path planning framework that operates from a coarse-to-optimal approach. We first introduce an adaptive sampling method to construct a three-dimensional (3D) space-aware profiling map in the Frenet frame to quantify abstract traffic scenarios. This cost map guides the generation of waypoints by incorporating obstacle distributions in the $s$ -direction and cost values in the $l$ -direction. We then design a cost function to obtain the coarse path by considering ride comfort, anti-deviation from the center of the road, and path safety. Finally, a new path model is re-established based on the Taylor series, and a quadratic programming approach is employed to fine-tune the coarse path to attain the optimal path. Experimental results show that the proposed adaptive sampling method can dynamically adjust the sampling strategy according to the change in the number and distribution of obstacles on the road, significantly improving the sampling effectiveness rate to 100%, 99.85%, 99.68% and 99.61% for one-obstacle, two-obstacle, three-obstacle, and four-obstacle scenarios. Compared with the conventional method, the generated path length is shortened by 3.48% and 8.42%, and the maximum heading angle is reduced by 18.68% and 30.21% in the scenarios with obstacles of the same and different sizes.

Keywords

• Path planning
• Frenet frame
• cost function
• Taylor series
• quadratic program
• autonomous driving