ENUMERATION-BASED THREE-POINT TURN PLANNING FOR AUTONOMOUS DRIVING VEHICLES

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.