Control Dominant Triple Point Rotation Plan for Autonomous Vehicles

摘要

In response to the request for triple point rotation, a forward rotation path is generated from the ADV''s current position and forward direction. When generating the forward rotation path, by applying the full steering command, the forward curvature is determined based on the maximum forward rotation angle of the ADV. The forward rotation path is determined based on the forward curvature from the current position of the ADV. Based on the detection information that senses the driving environment around the vehicle at the corresponding time, a forward speed profile for the forward rotation path is calculated. In addition, based on the maximum rear rotation angle associated with the ADV, a rear rotation path is generated from the end point of the front rotation path. Subsequently, a triple point rotation path is generated based on the front rotation path and the rear rotation path, and the vehicle is driven to proceed with the triple point rotation.