A computer-implemented method for operating an autonomous driving vehicle, the method comprising the steps of: in response to a request for a three-point turn of the autonomous driving vehicle, generating a forward turning path from a current location of the ADV based on a maximum forward turning angle associated with the ADV, wherein generating a forward turning path comprises: determining a forward curvature based on the maximum forward turning angle of the ADV by applying a full steering command, determining the forward turning path based on the forward curvature from the current location of the ADV; generating a backward turning path from an end point of the forward turning path; generating a forward path from an end point of the backward turning path into a target lane; and connecting the forward turning path, the backward turning path, and the forward path to form a three-point turn path, wherein the ADV is driven according to the three-point turn path to make the three-point turn; the method being characterised in that: the step of generating the forward turning path further comprises calculating a forward speed profile for the forward turning path based on perception information perceiving a driving environment at a point in time; in that the step of generating the backward turning path from an end point of the forward turning path is based on a maximum backward turning angle associated with the ADV; and in that the forward path is formed using a lane changing method from a lane in which the ADV is located at an end point of the backward turning path into a target lane of the three-point turn. in response to a request for a three-point turn of the autonomous driving vehicle, generating a forward turning path from a current location of the ADV based on a maximum forward turning angle associated with the ADV, wherein generating a forward turning path comprises: determining a forward curvature based on the maximum forward turning angle of the ADV by applying a full steering command, determining the forward turning path based on the forward curvature from the current location of the ADV; generating a backward turning path from an end point of the forward turning path; generating a forward path from an end point of the backward turning path into a target lane; and connecting the forward turning path, the backward turning path, and the forward path to form a three-point turn path, wherein the ADV is driven according to the three-point turn path to make the three-point turn; determining a forward curvature based on the maximum forward turning angle of the ADV by applying a full steering command, determining the forward turning path based on the forward curvature from the current location of the ADV; generating a backward turning path from an end point of the forward turning path; generating a forward path from an end point of the backward turning path into a target lane; and connecting the forward turning path, the backward turning path, and the forward path to form a three-point turn path, wherein the ADV is driven according to the three-point turn path to make the three-point turn; the method being characterised in that: the step of generating the forward turning path further comprises calculating a forward speed profile for the forward turning path based on perception information perceiving a driving environment at a point in time; in that the step of generating the backward turning path from an end point of the forward turning path is based on a maximum backward turning angle associated with the ADV; and in that the forward path is formed using a lane changing method from a lane in which the ADV is located at an end point of the backward turning path into a target lane of the three-point turn. the step of generating the forward turning path further comprises calculating a forward speed profile for the forward turning path based on perception information perceiving a driving environment at a point in time; in that the step of generating the backward turning path from an end point of the forward turning path is based on a maximum backward turning angle associated with the ADV; and in that the forward path is formed using a lane changing method from a lane in which the ADV is located at an end point of the backward turning path into a target lane of the three-point turn.