| CPC B60W 30/0956 (2013.01) [B60W 30/18163 (2013.01); B60W 50/0098 (2013.01); B60W 60/0015 (2020.02); B60W 2050/0026 (2013.01); B60W 2554/4044 (2020.02); B60W 2554/801 (2020.02); B60W 2720/106 (2013.01)] | 20 Claims |
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1. A method for controlling acceleration of a vehicle, comprising:
detecting, by a computing device, a lateral distance from a point on a trajectory of the vehicle to a first object the vehicle is expected to pass when following the trajectory, the first object being located off of and to a side of the trajectory and the point representing a future location of the vehicle while passing the first object;
selecting, by the computing device, whether acceleration limiting is to be performed by the vehicle based on the lateral distance;
obtaining a margin of the vehicle defined by a sequence of points, wherein the sequence of points is obtained by:
sliding a footprint of the vehicle longitudinally along the trajectory,
for each index point of the trajectory,
sliding the footprint laterally until the footprint intersects with the first object, and
obtaining a vehicle center or center of gravity specified by the footprint at a laterally slid location intersecting the first object,
obtaining an amount by which the acceleration of the vehicle is to be limited based on the trajectory and the margin of the vehicle, when a selection is made that acceleration limiting is to be performed by the vehicle, wherein the amount is obtained by:
calculating, for each of a plurality of index points along the trajectory, a distance between the index point and the margin of the vehicle;
determining, based on the distance, a limiting acceleration for each index point; and
causing, by the computing device, the vehicle to perform operations for autonomous driving with limiting of acceleration by the obtained amount.
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