GAP-BASED SPEED CONTROL FOR AUTOMATED DRIVING SYSTEM
First Claim
1. An automated driving system, comprising:
- a perception system associated with an autonomous vehicle; and
a computing device in communication with the perception system, comprising;
one or more processors for controlling operations of the computing device; and
a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to;
detect, using the perception system, an object of interest;
determine, based on information specific to an environment surrounding the autonomous vehicle, a vehicle path proximate to the object of interest;
determine, based on properties of the object of interest, a preferred gap between the vehicle path and the object of interest;
determine an actual gap between the vehicle path and the object of interest;
determine, based on a difference between the preferred gap and the actual gap, a speed profile for the autonomous vehicle along the vehicle path; and
send a command, to one or more vehicle systems, to control the autonomous vehicle to follow the vehicle path using the speed profile.
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Abstract
An automated driving system and methods are disclosed. The automated driving system includes a perception system associated with an autonomous vehicle. Sensors in communication with the perception system can detect an object of interest. Based on information specific to the environment surrounding the autonomous vehicle, the automated driving system can determine a vehicle path proximate to the object of interest. Based on properties of the object of interest, the automated driving system can determine a preferred gap between the vehicle path and the object of interest. The automated driving system can also determine an actual gap between the vehicle path and the object of interest. Based on the difference between the preferred gap and the actual gap, the automated driving system can determine a speed profile for the autonomous vehicle along the vehicle path and control the autonomous vehicle to follow the vehicle path according to the speed profile.
26 Citations
20 Claims
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1. An automated driving system, comprising:
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a perception system associated with an autonomous vehicle; and a computing device in communication with the perception system, comprising; one or more processors for controlling operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to; detect, using the perception system, an object of interest; determine, based on information specific to an environment surrounding the autonomous vehicle, a vehicle path proximate to the object of interest; determine, based on properties of the object of interest, a preferred gap between the vehicle path and the object of interest; determine an actual gap between the vehicle path and the object of interest; determine, based on a difference between the preferred gap and the actual gap, a speed profile for the autonomous vehicle along the vehicle path; and send a command, to one or more vehicle systems, to control the autonomous vehicle to follow the vehicle path using the speed profile. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer-implemented method of automated driving, comprising:
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detecting, using a perception system associated with an autonomous vehicle, an object of interest; determining, based on information specific to an environment surrounding the autonomous vehicle, a vehicle path proximate to the object of interest; determining, based on properties of the object of interest, a preferred gap between the vehicle path and the object of interest; determining an actual gap between the vehicle path and the object of interest; determining, based on a difference between the preferred gap and the actual gap, a speed profile for the autonomous vehicle along the vehicle path; and sending a command, to one or more vehicle systems, to control the autonomous vehicle to follow the vehicle path according to the speed profile. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A computing device, comprising:
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one or more processors for controlling operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to; detect, using a perception system associated with an autonomous vehicle, an object of interest; determine, based on information specific to an environment surrounding the autonomous vehicle, a vehicle path proximate to the object of interest; determine, based on properties of the object of interest, a preferred gap between the vehicle path and the object of interest; determine an actual gap between the vehicle path and the object of interest; determine, based on a difference between the preferred gap and the actual gap, a speed profile for the autonomous vehicle along the vehicle path; and send a command, to one or more vehicle systems, to control the autonomous vehicle to follow the vehicle path using the speed profile. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification