clothoid

For the future situation after stop line changed，the line-clothoid-clothoid-line model is presented.

对于停位置改变后的未来状态，给出了直—回—回—直组合的左转辆行驶轨迹模型。

When the Lanes joint a Plane curve,such as a clothoid or an arc with small radius,itll need repeatedly compute and adjust.

尤其是变速道起点对应的主形为圆曲或缓和曲时,往往反复试算调整,也难以得到比较理想的设计方案。