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.


    Access

    Download


    Export, share and cite



    Title :

    Speed planning for autonomous vehicles


    Contributors:

    Publication date :

    2020-05-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



    Speed planning for autonomous vehicles

    GUTMANN JENS-STEFFEN RALF / FURMAN VADIM / KUNZ TOBIAS | European Patent Office | 2024

    Free access

    Speed planning for autonomous vehicles

    GUTMANN JENS-STEFFEN RALF / FURMAN VADIM / KUNZ TOBIAS | European Patent Office | 2023

    Free access

    Using discomfort for speed planning in autonomous vehicles

    GUTMANN JENS-STEFFEN RALF / KUNZ TOBIAS / FURMAN VADIM | European Patent Office | 2023

    Free access

    Using discomfort for speed planning in autonomous vehicles

    GUTMANN JENS-STEFFEN RALF / KUNZ TOBIAS / FURMAN VADIM | European Patent Office | 2020

    Free access