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

Table 5

The main evaluation indicators of two contrastive path planning results.

Scenario	Indicator
	Planning time (ms)	Minimum distance to obstacle (m)	Max curvature (m^−1)
RRT	32.56	1.08	0.30
Two-layered planning	71.32	1.22	0.13