Local path planning method for driverless racing car with self-adaptive center line

The invention relates to an unmanned racing car local path planning method for a self-adaptive center line, and the method comprises the steps: collecting racing car state data and racing track cone bucket information, carrying out the data and time fusion, and obtaining a three-dimensional racing track cone bucket target detection sequence; designing a self-adaptive constraint scanning frame to perform track constraint, endowing the track cone barrels in the self-adaptive constraint scanning frame with labels, and forming a legal track cone barrel set; performing track center line planning according to the legal track cone barrel set and the label thereof, and generating a track center line; on the basis of the track center line, in the legal track cone barrel set, a virtual track left boundary and a virtual track right boundary are generated according to the cone barrel labels, and closed-loop correction adjustment is conducted on the self-adaptive constraint scanning frame according to the position relatio