Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment

Table 3

The main evaluation indicators of path planning results in high-level model.

Scenario	Indicator
	Planning time (ms)	Minimum distance to obstacle (m)	Max curvature (m^−1)
1	23.16	1.18	0.09
2	25.76	1.09	0.1
3	28.32	0.95	0.11