| CPC B60W 60/001 (2020.02) [B60W 2552/15 (2020.02); B60W 2552/30 (2020.02); B60W 2710/207 (2013.01)] | 20 Claims |
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1. An autonomous vehicle, comprising:
one or more processors; and
memory storing instructions that, when executed by the one or more processors, cause the autonomous vehicle to perform actions comprising:
determining, prior to operating the autonomous vehicle, a first curvature function defining a path curvature of the autonomous vehicle as a function of a speed for the autonomous vehicle by setting the path curvature to a maximum value based on an operational domain;
determining, prior to operating the autonomous vehicle, a curvature rate function defining an allowable change in curvature as a function of speed for the autonomous vehicle by setting a first curvature rate to a maximum allowable rate based on the operational domain;
reducing a limit of the first curvature function in response to determining that a slope of the first curvature function at a first speed exceeds a value of the curvature rate function at the first speed to produce a second curvature function;
generating steering limit data for the autonomous vehicle by at least:
determining a leading angle limit for a leading steering angle based at least in part on the second curvature function;
determining a trailing angle limit for a trailing steering angle based at least in part on a difference between the leading angle limit and the trailing angle limit being less than a first threshold; and
controlling, based at least in part on the steering limit data, the autonomous vehicle.
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