US 11,934,193 B2
Speed-dependent required lateral clearance for autonomous vehicle path planning
Jared Stephen Russell, San Francisco, CA (US); and Mark Paskin, Palo Alto, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Apr. 22, 2020, as Appl. No. 16/855,337.
Application 16/855,337 is a continuation of application No. 15/791,623, filed on Oct. 24, 2017, granted, now 10,671,079.
Prior Publication US 2020/0249687 A1, Aug. 6, 2020
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G08G 1/16 (2006.01)
CPC G05D 1/0223 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G08G 1/166 (2013.01); G08G 1/167 (2013.01); B60W 2520/10 (2013.01); B60W 2554/00 (2020.02); B60W 2720/10 (2013.01); G05D 2201/0213 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle in an autonomous driving mode, the method comprising:
determining, by one or more processors, a first path of a first trajectory where the vehicle will pass an object;
in a first iteration when the vehicle is a first distance from the object, determining, by the one or more processors, a first speed plan for the first trajectory including a first maximum speed for the vehicle that will provide at least a first minimum lateral distance between the object and the vehicle, wherein the first speed plan includes a time and speed parameterization for causing the vehicle to yield or stop before meeting the first minimum lateral distance;
controlling, by the one or more processors, the vehicle according to the first speed plan;
determining, by the one or more processors, a second path of a second trajectory where the vehicle will pass the object;
subsequent to controlling the vehicle according to the first speed plan, in a second iteration when the vehicle is a second distance from the object, determining a second speed plan for the second trajectory including a second maximum speed for the vehicle that will provide at least a second minimum lateral distance between the object and the vehicle, wherein the second minimum lateral distance is less than the first minimum lateral distance, wherein the second speed plan includes a time and speed parameterization for causing the vehicle to yield or stop before meeting the second minimum lateral distance, and the second maximum speed is set to one of the first maximum speed or a current speed of the vehicle; and
controlling, by the one or more processors, the vehicle according to the second speed plan in the autonomous driving mode.