METHOD OF PLANNING A LANE-LEVEL PATH FOR A VEHICLE IN THE EXISTENCE OF SCENE UNCERTAINTY

A method of planning a lane-level path for a vehicle includes generating a plurality of potential paths for the vehicle according to a navigation goal, wherein each of the potential paths includes a sequence of lane maneuvers for the vehicle. The method also includes producing a plurality of proposed task lists for each of the plurality of potential paths based on at least one uncertainty with respect to the sequence of lane maneuvers; determining a utility factor for each of the plurality of proposed task lists; and selecting an optimal path from the plurality of potential paths and an optimal task list from the plurality of proposed task lists to thereby plan the lane-level path for the vehicle to achieve the navigation goal. A vehicle includes a plurality of wheels and an onboard controller in communication with the plurality of wheels and including an instruction set to execute the method.