| CPC B60W 30/181 (2013.01) [B60W 30/0956 (2013.01); B60W 40/072 (2013.01); B60W 2552/15 (2020.02); B60W 2554/802 (2020.02); B60W 2555/20 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
determining a first location and a first velocity associated with a first autonomous vehicle;
determining a second location and a second velocity associated with a second vehicle;
determining, based on the first location, the second location, the first velocity, the second velocity, and a first maximum deceleration value associated with a comfort driving level, a relative stopping distance between the first autonomous vehicle and the second vehicle;
determining that the relative stopping distance is less than a threshold distance;
responsive to determining that the relative stopping distance is less than the threshold distance:
increasing, preemptive to determining a likelihood of an adverse event related to the second vehicle, the first maximum deceleration value to a second maximum deceleration value associated with a maximum stopping level, the maximum stopping level based at least in part on at least one of a vehicle type or vehicle classification of the first autonomous vehicle;
determining the likelihood of the adverse event related to the second vehicle based at least in part on the second maximum deceleration value; and
determining, by a vehicle computing device, a trajectory for the first autonomous vehicle based at least in part on the second maximum deceleration value, the trajectory comprising an indication of a desired direction, velocity, and acceleration of the first autonomous vehicle; and
controlling, based at least in part on the trajectory, a steering operation and a braking operation of the first autonomous vehicle in an environment to avoid the adverse event related to the second vehicle, independent of requiring the first autonomous vehicle to use the second maximum deceleration value.
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