Intelligent vehicle local path planning method in structured environment

The invention provides an intelligent vehicle local path planning method in a structured environment. The method comprises the following steps of positioning and map loading, obstacle information processing, coordinate system conversion and analysis, decision and replanning method, speed planning and local planning updating. Firstly, a corresponding local reference path is loaded by using a high-precision map and self-vehicle positioning information, then obstacle information is detected, coordinate system conversion is performed on the local reference path and the obstacle information, whether replanning is required is judged, and a local optimal path is obtained through a decision and replanning method. And finally, safe and stable driving is realized through speed planning and updatingof a local planning result. According to the invention, path planning, lane changing decision and speed planning are integrated, and the time performance of the intelligent vehicle local path planningmethod in the structured