Method of route planning and handling prohibited complex driving maneuvers

A method of route planning and handling prohibited complex driving maneuvers comprising:

• receiving an initial node of a route, a goal node of the route, and a designated parameter;
• initializing an OPEN list and a CLOSED list;
• adding the initial node of a route to the OPEN list;
• extracting a node with a lowest estimated cost according to the designated parameter from the OPEN list as a processing node;
• storing one or multiple successor nodes connected to the processing node as a successor group if the processing node is not the goal node;
• selecting one of the one or multiple successor nodes as a candidate node;
• generating one or multiple maneuver masks for the candidate node so as to form one or multiple virtual nodes which mark different parent segments related to one or multiple maneuver restriction of the candidate node if a parent segment from the processing node to the candidate node is involved in the one or multiple maneuver restriction;
• and
• moving the processing node from the OPEN list to the CLOSED list if the candidate node is an end node of the maneuver restriction.