PLANIFICATION DE DEMI-TOUR EN TROIS MAN UVRES BASÉ SUR UN TRAJET EN SPIRALE POUR VÉHICULES À CONDUITE AUTONOME

摘要

In response to a request to make a three-point turn for an autonomous driving vehicle (ADV) (601), a forward turning path is generated using a first spiral function based on a maximum forward curvature change rate (602). A backward turning path is generated using a second spiral function based on a maximum backward curvature change rate (603). The forward and backward curvature change rates may be determined based on the maximum forward and backward turning angles associated with the ADV, which may be specified as a part of vehicle specification or vehicle design of the ADV. The backward turning path is initiated from an end point of the forward turning path (604). A three-point turn path is then generated based on the forward turning path and the backward turning path. The ADV is then driven according to the three-point turn path by issuing one or more proper control commands (605).