METHOD FOR OPTIMIZING THREE-POINT TURN OF AUTONOMOUS DRIVING VEHICLES

In one embodiment, it is determined that a speed of an autonomous driving vehicle (ADV) is below a predetermined speed threshold during a current turn section of a three-point turn, where the three-point turn includes at least three turn sections. In response, detecting an obstacle within a predetermined proximity of the ADV, determining a type of obstacle. An amount of time during which the speed of the ADV remains below the predetermined speed threshold is determined. It is determined whether the amount of time is greater than a time threshold corresponding to the type of the obstacle. If the amount of time is greater than the time threshold, the current turn section is ended and a next turn section is started.