clothoid

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

对于停线位置改变后的未来状，了直线—回旋线—回旋线—直线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线线形为圆曲线或缓和曲线时,往往反复试算调整,也到比较理想的设计方案。