| 摘要 |
A method and system for assessing vehicle paths in a road environment including a vehicle and external objects includes: determining a position and a dynamic state of the host vehicle and of each of the external objects; generating a plurality of paths that may be followed by the vehicle as it moves toward the external objects; and evaluating a cost associated with each of the paths, the cost based on a lateral acceleration experienced by the vehicle. Each path is made up of path segments, including: an initial path segment corresponding to the vehicle continuing along a selected route without consideration of the external objects, and a maneuver pair for each external object, each maneuver pair including a path segment passing to the left of the external object and a path segment passing to the right of the external object.
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