Hierarchical Motion Planning for Autonomous Driving in Large-Scale Complex Scenarios

Motion planning algorithms, an essential part of the autonomous driving system, have been extensively studied. However, in large-scale complex scenarios, how to develop an optimal path to comply with the requirements of smoothness and safety remains a vital issue. In this study, a hierarchical search spacial scales-based hybrid A∗ (termed as HHA∗) motion planning method is proposed, capable of efficiently generating smooth and safe paths. The proposed HHA∗ method covers two stages. First, the search space is divided on a coarse scale to generate local goals. Subsequently, the novel heuristic function and exploration strategies are adopted in the fine-scale search space to generate paths like that with a human driver guided by the local goals. Moreover, with the usage of the clothoid, the smoothness of the generated path is improved to be G2-continuous (i.e., curvature continuous), which fits the vehicle's kinematic constraints without the need for later smoothing. Numerous experimental results from the simulation and on-road tests indicate that the proposed method can effectively perform motion planning that meets smoothness and safety in large-scale complex scenarios.