US 12,005,897 B1
Speed planning for autonomous vehicles
Jens-Steffen Ralf Gutmann, Cupertino, CA (US); Vadim Furman, Los Gatos, 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. 21, 2023, as Appl. No. 18/111,985.
Application 18/111,985 is a continuation of application No. 16/831,980, filed on Mar. 27, 2020, granted, now 11,608,060.
Application 16/831,980 is a continuation of application No. 15/258,324, filed on Sep. 7, 2016, granted, now 10,640,111, issued on May 5, 2020.
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/14 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/143 (2013.01) [B60W 60/0027 (2020.02)] 24 Claims
OG exemplary drawing
 
1. A method comprising:
evaluating, by one or more processors of a vehicle operating in an autonomous driving mode, one or more characteristics of an object detected in an external environment of the vehicle according to a behavior-time model;
predicting, by the one or more processors, a set of trajectories for the object based on the evaluating of the one or more characteristics of the object;
identifying, by the one or more processors, a set of constraints for vehicle operation based on the predicted set of trajectories; and
adjusting a speed plan in order to satisfy one or more constraints of the set of constraints within a period of time that is associated with the speed plan, wherein adjusting the speed plan includes iteratively modifying a speed of the vehicle by a specific amount over at least part of the period of time.