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

Table 4

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

Moment	Indicator
	Planning time (ms)	Minimum distance to obstacle (m)	Max curvature (m^−1)
Scenario 1, t0	38.74	5	0.056
Scenario 1, t1	40.12	1.46	0.092
Scenario 2, t1	41.56	1.38	0.094
Scenario 2, t2	41.38	1.26	0.12
Scenario 3, t1	40.79	1.40	0.096
Scenario 3, t2	41.67	1.32	0.099
Scenario 3, t3	42.68	1.22	0.13