In response to a request for a three-point turn, a forward turning path from a current location and heading direction of the ADV is generated. In generating the forward turning path, a forward curvature is determined based on the maximum forward turning angle of the ADV by applying a full steering command. The forward turning path is determined based on the forward curvature from the current location of the ADV. A forward speed profile is calculated for the forward turning path based on perception information that perceives a driving environment surrounding the vehicle at the point in time. In addition, a backward turning path is generated from an end point of the forward turning path based on a maximum backward turning angle associated with the ADV. The three-point turn path is then generated based on the forward turning path and the backward turning path to drive the vehicle to make the three-point turn.
CONTROL DOMINATED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES
2020-11-05
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
CONTROL DOMINATED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES
European Patent Office | 2021
|Control dominated three-point turn planning for autonomous driving vehicles
European Patent Office | 2023
|ENUMERATION-BASED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES
European Patent Office | 2021
|ENUMERATION-BASED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES
European Patent Office | 2021
|Enumeration-based three-point turn planning for autonomous driving vehicles
European Patent Office | 2022
|