The application discloses a kind of layer-by-layer cumulative
heuristic guidance ground vehicle path
planning method and
system, its method includes: S1, the path planning model of containing road network map is constructed, obstacle data that influences ground
vehicle driving is marked on road network map;S2, m-layer subgrid
mask is constructed according to upper and lower dimensions on the road network map of path planning model, the front m-1 layer subgrid
mask of road network map is executed task target in turn and front and rear layer cumulative
heuristic grid
route chain search;S3, path planning model uses
route chain to carry out optimal
path search and optimization on road network map and obtains ground
vehicle driving planning path.The path planning model of the application is from
macro route to fine route layer-by-layer cumulative search guidance and obtains route chain, realizes the search guidance of front and rear layer cumulative
heuristic task target and obtains fine route chain by multilayer subgrid
mask fast search, reduces search calculation amount and complexity, improves
vehicle driving path planning efficiency.