clothoid

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

对于停位置改变后未来状态，给出了直—回旋—回旋—直组合左转辆行驶轨。

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设计方案。