| CPC B60W 30/143 (2013.01) [B60W 30/18009 (2013.01); B60W 60/0013 (2020.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2520/10 (2013.01); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02); B60W 2554/802 (2020.02); B60W 2720/106 (2013.01)] | 20 Claims |
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1. A method comprising:
identifying, by a processor, a maximum distance bound based on one or more objects around a vehicle;
for each of a plurality of candidate trajectories for the vehicle:
determining, by the processor, a velocity from the maximum distance bound at an ending time of the candidate trajectory;
determining, by the processor, an available distance for the candidate trajectory as a function of the determined velocity at the ending time of the candidate trajectory and a comfort deceleration parameter;
determining, by the processor, a target velocity for the candidate trajectory as a function of the available distance for the candidate trajectory, a difference between a distance at the ending time of the candidate trajectory and a distance of the maximum distance bound at the ending time of the candidate trajectory, and the comfort deceleration parameter; and
determining, by the processor, a velocity difference between the target velocity and a final velocity of the candidate trajectory at the ending time of the candidate trajectory;
selecting, by the processor, a first candidate trajectory of the plurality of candidate trajectories based on the velocity difference of the first candidate trajectory and the velocity differences of the other candidate trajectories of the plurality of candidate trajectories; and
operating, by the processor, the vehicle based on the selected first candidate trajectory.
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