Optimal planner switching method for 3-point turn of automatic driving vehicle

摘要

PROBLEM TO BE SOLVED: To plan and execute a 3-point turn in the operation of an autonomous driving vehicle (ADV). SOLUTION: A candidate route passing from a starting point to an ending point is determined, and the starting point and the ending point are located in lanes with respect to opposite traveling directions. Candidate routes are classified into partially overlapping first segment, second segment and third segment. The total cost for a candidate route is estimated, at least in part, based on the first and second segments. Determine if the total cost is lower than the threshold cost. Plan a 3-point turn based on the candidate route in response to the total cost being determined to be lower than the threshold cost. It also generates driving signals that control the operation of the ADV, at least based on a partially planned 3-point turn. [Selection diagram] FIG. 7