Spiral path based triple point rotation plan for autonomous vehicles

摘要

In one embodiment, in response to a request for a triple point rotation for an autonomous vehicle (ADV), a front rotation path is generated using a first spiral function based on a maximum front curvature change rate. A rear rotation path is generated using the second spiral function based on the maximum rear curvature change rate. The rate of change of the forward curvature and the rate of change of the backward curvature may be determined based on the maximum forward rotation angle and the maximum backward rotation angle related to the ADV, and the maximum forward rotation angle and the maximum backward rotation angle may be designated as part of ADV''s vehicle specifications or vehicle design. You can. The backward rotation path starts from the end point of the forward rotation path. Subsequently, the triple point rotation path is generated based on the front rotation path and the rear rotation path. Issue one or multiple appropriate control commands so that the ADV travels along the triple point rotation path.