US 12,296,819 B2
Operation of a vehicle using multiple motion constraints
Tichakorn Wongpiromsarn, Singapore (SG); and Scott D. Pendleton, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by MOTIONAL AD LLC, Boston, MA (US)
Filed on Apr. 5, 2022, as Appl. No. 17/713,643.
Application 17/713,643 is a continuation of application No. 16/702,620, filed on Dec. 4, 2019, granted, now 11,325,592.
Claims priority of provisional application 62/781,566, filed on Dec. 18, 2018.
Prior Publication US 2022/0227365 A1, Jul. 21, 2022
Int. Cl. B60W 30/09 (2012.01); G08G 1/16 (2006.01)
CPC B60W 30/09 (2013.01) [G08G 1/166 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
identifying, using one or more processors of a vehicle, a moving object;
generating, using the one or more processors, a first motion constraint for operating the vehicle,
wherein the first motion constraint comprises a minimum speed greater than zero that, when traversed by the vehicle, causes the vehicle to avoid a collision with the moving object,
wherein traversing below the minimum speed would cause the vehicle to collide with the moving object, and
wherein the minimum speed is determined based on a predicted speed and trajectory of the moving object; and
operating, using the one or more processors, the vehicle based on the first motion constraint, including causing the vehicle to traverse according to at least the minimum speed.