Speed planning for autonomous vehicles
First Claim
1. A method of maneuvering a vehicle in an autonomous driving mode, the method comprising:
- identifying, by one or more processors, an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle, the initial speed plan corresponding to a selected speed of the vehicle defined at least in part by a legal speed limit on the speed of the vehicle for a roadway on which the vehicle is currently located;
receiving, by the one or more processors, from a perception system of the vehicle, data identifying an object and characteristics of that object;
predicting, by the one or more processors, a trajectory for the object that will intersect with the route at an intersection point at a particular point in time using the data;
generating, by the one or more processors, a set of constraints including a first constraint based on at least the trajectory and a second constraint based on expected comfort of at least one of a passenger within the vehicle or a person associated with the object;
determining whether the first and second constraints can both be satisfied during a second predetermined period of time corresponding to the amount of time;
upon determining that both of the first and second constraints can be satisfied;
adjusting, by the one or more processors, the initial speed plan in order to satisfy the first and second constraints for a second predetermined period of time corresponding to the amount of time;
maneuvering, by the one or more processors, the vehicle in the autonomous driving mode according to the adjusted initial speed plan; and
upon determining that the first and second constraints cannot both be satisfied;
comparing an expected result if the vehicle were to return to the selected speed with an expected result if the vehicle were to come to a complete stop.
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Accused Products
Abstract
Aspects of the disclosure relate to identifying and adjusting speed plans for controlling a vehicle in an autonomous driving mode. In one example, an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle is identified. Data identifying an object and characteristics of that object is received from a perception system of the vehicle. A trajectory for the object that will intersect with the route at an intersection point at particular point in time is predicted using the data. A set of constraints is generated based on at least the trajectory. The speed plan is adjusted in order to satisfy the set of constraints for a second predetermined period of time corresponding to the amount of time. The vehicle is maneuvered in the autonomous driving mode according to the adjusted speed plan.
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Citations
16 Claims
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1. A method of maneuvering a vehicle in an autonomous driving mode, the method comprising:
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identifying, by one or more processors, an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle, the initial speed plan corresponding to a selected speed of the vehicle defined at least in part by a legal speed limit on the speed of the vehicle for a roadway on which the vehicle is currently located; receiving, by the one or more processors, from a perception system of the vehicle, data identifying an object and characteristics of that object; predicting, by the one or more processors, a trajectory for the object that will intersect with the route at an intersection point at a particular point in time using the data; generating, by the one or more processors, a set of constraints including a first constraint based on at least the trajectory and a second constraint based on expected comfort of at least one of a passenger within the vehicle or a person associated with the object; determining whether the first and second constraints can both be satisfied during a second predetermined period of time corresponding to the amount of time; upon determining that both of the first and second constraints can be satisfied; adjusting, by the one or more processors, the initial speed plan in order to satisfy the first and second constraints for a second predetermined period of time corresponding to the amount of time; maneuvering, by the one or more processors, the vehicle in the autonomous driving mode according to the adjusted initial speed plan; and upon determining that the first and second constraints cannot both be satisfied; comparing an expected result if the vehicle were to return to the selected speed with an expected result if the vehicle were to come to a complete stop. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for maneuvering a vehicle in autonomous driving mode, the system comprising one or more processors configured to:
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identify an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle, the initial speed plan corresponding to a selected speed of the vehicle defined at least in part by a legal speed limit on the speed of the vehicle for a roadway on which the vehicle is currently located; receive from a perception system of the vehicle, data identifying an object and characteristics of that object; predict a trajectory for the object that will intersect with the route at an intersection point at a particular point in time using the data; generate a set of constraints including a first constraint based on at least the trajectory and a second constraint based on expected comfort of at least one of a passenger within the vehicle or a person associated with the object; determine whether the first and second constraints can both be satisfied during a second predetermined period of time corresponding to the amount of time; upon determining that both of the first and second constraints can be satisfied; adjust the initial speed plan in order to satisfy the set of constraints for a second predetermined period of time corresponding to the amount of time; maneuvering the vehicle in the autonomous driving mode according to the adjusted initial speed plan; and upon determining that the first and second constraints cannot both be satisfied; compare an expected result if the vehicle were to return to the selected speed with an expected result if the vehicle were to come to a complete stop. - View Dependent Claims (12, 13, 14, 15)
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16. A non-transitory computer readable medium on which instructions are stored, the instructions when executed by one or more processors, cause the one or more processors to perform a method of controlling a vehicle in an autonomous driving mode, the method comprising:
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identifying an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle, the initial speed plan corresponding to a selected speed of the vehicle defined at least in part by a legal speed limit on the speed of the vehicle for a roadway on which the vehicle is currently located; receiving from a perception system of the vehicle, data identifying an object and characteristics of that object; determining whether the first and second constraints can both be satisfied during a second predetermined period of time corresponding to the amount of time; upon determining that both of the first and second constraints can be satisfied; predicting a trajectory for the object that will intersect with the route at an intersection point at a particular point in time using the data; generating a set of constraints including a first constraint based on at least the trajectory and a second constraint based on expected comfort of at least one of a passenger within the vehicle or a person associated with the object; adjusting the initial speed plan in order to satisfy the set of constraints for a second predetermined period of time corresponding to the amount of time; maneuvering the vehicle according to the adjusted initial speed plan; and upon determining that the first and second constraints cannot both be satisfied; comparing an expected result if the vehicle were to return to the selected speed with an expected result if the vehicle were to come to a complete stop.
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Specification