Method for determining limit trajectory of autonomous vehicle leaving roundabout

The invention provides a method for determining a limit trajectory of an automatic driving vehicle leaving a roundabout, and belongs to the field of automatic driving trajectory planning. According to the method for determining the limit trajectory of the autonomous vehicle leaving the roundabout, the autonomous vehicle can safely and efficiently leave the roundabout, and does not cross the road center line or channelization line of the exit lane of the roundabout. And calculating the latest driving-away steering point of the autonomous vehicle in the roundabout and the corresponding limit track, so as to warn and limit the driving-away steering area of the autonomous vehicle and ensure that the autonomous vehicle smoothly drives out of the roundabout under the condition of not violating traffic rules. 本发明提供一种自动驾驶汽车驶离环形交叉口的极限轨迹的确定方法，属于自动驾驶轨迹规划领域。本发明所述的一种自动驾驶汽车驶离环形交叉口的极限轨迹的确定方法，以自动驾驶汽车安全、高效地驶离环形交叉口为目的，以不越过环形交叉口出口道道路中心线或渠化线为目标，计算自动驾驶汽车在环道中的最晚驶离转向点及其对应的极限轨迹，以此来警示并限制自动驾驶汽车的驶离转向区域，保证自动驾驶汽车在不违反交通规则的情况下顺利驶出环形交叉口。