In one embodiment, an autonomous driving vehicle (ADV) operates in an on-lane mode, where the ADV follows a path along a vehicle lane. In response to determining that the ADV is approaching a dead-end, the ADV switches to an open-space mode. While in the open-space mode, the ADV conducts a three-point turn using a series of steering and throttle commands to generate forward and reverse movements until the ADV is within a) a threshold heading, and b) a threshold distance, relative to the vehicle lane. The ADV can then return to the on-lane mode and resume along the vehicle lane away from the dead-end.
在一个实施方式中,自动驾驶车辆(ADV)在车道上模式下操作,其中ADV跟随车辆车道的路径行进。响应于确定ADV正在接近死巷,ADV切换到开放空间模式。当处于开放空间模式时,ADV使用一系列转向和油门命令进行三点转弯,以生成向前和倒车运动,直到ADV相对于车辆车道处于a)阈值前进方向和b)阈值距离内。然后,ADV可以返回到车道上模式,并恢复沿着车辆车道远离死巷。
AUTONOMOUS DRIVING VEHICLE THREE-POINT TURN
自动驾驶车辆三点转弯
2021-06-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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