According to one embodiment, in response to a request for a three-point turn, a set of forward turning paths is generated based on a maximum forward turning angle associated with an ADV. A set of backward tuning paths is generated based on a maximum backward turning angle associated with the ADV. A set of three-point turn path candidates is generated based on the forward turning paths and the backward turning paths. For each of the three-point turn path candidates, a path cost is calculated using a predetermined cost function. One of the three-point turn path candidates with the lowest path cost is selected as the final three-point turn path to drive the ADV to make a three-point turn.
ENUMERATION-BASED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES
AUF AUFZÄHLUNG BASIERENDE DREIPUNKTWENDEPLANUNG FÜR AUTONOM FAHRENDE FAHRZEUGE
PLANIFICATION DE DEMI-TOUR EN TROIS TEMPS À BASE D'ÉNUMÉRATION POUR VÉHICULES À CONDUITE AUTONOME
2021-01-13
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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