US 12,280,770 B1
Risk mitigation in speed planning
Jared Stephen Russell, San Francisco, CA (US); and Tobias Kunz, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Feb. 27, 2024, as Appl. No. 18/588,769.
Application 18/588,769 is a continuation of application No. 17/498,907, filed on Oct. 12, 2021, granted, now 11,945,433.
Application 17/498,907 is a continuation of application No. 16/210,652, filed on Dec. 5, 2018, granted, now 11,192,545, issued on Dec. 7, 2021.
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/182 (2020.01); G05D 1/00 (2024.01)
CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 30/182 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by one or more computing devices, a non-cooperating trajectory for an agent detected in an environment of a vehicle;
determining, by the one or more computing devices based on the non-cooperating trajectory, a switching constraint for switching from a first driving solution for the vehicle along a portion of a route to a second driving solution;
revising, by the one or more computing devices, the first driving solution based on the switching constraint; and
operating, by the one or more computing devices, the vehicle based on the revised first driving solution.