CPC B60W 30/143 (2013.01) [B60W 60/0027 (2020.02)] | 24 Claims |
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.
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