PATH PLANNING IN AUTONOMOUS DRIVING ENVIRONMENTS

The present invention relates to a path planning method and system for a vehicle. The method comprises obtaining a risk map of a surrounding environment of the vehicle. The risk map is formed based on an actuation capability of the vehicle and a location of free-space areas in the surrounding environment, the actuation capability including an uncertainty estimation for the actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas. Moreover, the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle. The method further comprises obtaining at least one candidate path for the vehicle, determining a total risk value for each candidate path based on the risk parameters of a set of area segments intersected by the at least one path, selecting a candidate path, of the at least one candidate path, fulfilling a risk value criterion, and generating, at an output, a first signal indicative of the selected candidate path.