US 11,654,932 B2
Architecture for variable motion control envelope
Diomidis Katzourakis, San Jose, CA (US); Andrew Barton-Sweeney, Oakland, CA (US); Rami Hindiyeh, Pacifica, CA (US); Peter Greene, Sunnyvale, CA (US); and Vadim Butakov, Belmont, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by WAYMO LLC, Mountain View, CA (US)
Filed on Dec. 28, 2020, as Appl. No. 17/135,259.
Prior Publication US 2022/0204017 A1, Jun. 30, 2022
Int. Cl. B60W 60/00 (2020.01); G01C 21/34 (2006.01); G01C 21/36 (2006.01); G06V 20/56 (2022.01)
CPC B60W 60/001 (2020.02) [G01C 21/3461 (2013.01); G01C 21/3691 (2013.01); G06V 20/56 (2022.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2552/20 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A method of operating a vehicle in an autonomous driving mode, the method comprising:
generating, by one or more processors of the vehicle, an initial friction estimation based on a road surface classification for a portion of a roadway and weather data for an external environment of the vehicle;
generating, by the one or more processors, an on-line friction estimate based on the initial friction estimation, pose information of the vehicle on the portion of the roadway, and wheel speed information of the vehicle;
generating, by the one or more processors, a set of acceleration limits based on the on-line friction estimate and the pose information, the set of acceleration limits corresponding to an acceleration envelope of both longitudinal acceleration and lateral acceleration; and
controlling the vehicle along the roadway, by the one or more processors in the autonomous driving mode, according to the set of acceleration limits;
wherein the set of acceleration limits is associated with a set of corrective control inputs and a set of primary control inputs, the set of corrective control inputs being obtained from the on-line friction estimate and the pose information, and the set of primary control inputs being obtained from the on-line friction estimate and trajectory information of the vehicle.