| CPC G05D 1/0223 (2013.01) [G05D 1/0094 (2013.01); G05D 1/0214 (2013.01)] | 20 Claims |
|
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:
receiving a trajectory for a vehicle to traverse through an environment;
determining a plurality of spatial implementation points along the trajectory, a spatial implementation point of the plurality of spatial implementation points indicative of a decision point for modifying a vehicle control associated with the trajectory;
determining, for a first spatial implementation point of the plurality of spatial implementation points and based at least in part on a length of a trajectory segment associated with the first spatial implementation point, an expected vehicle velocity, an expected vehicle acceleration, an acceleration rate change constraint, and a candidate vehicle acceleration, a first acceleration control associated with a first deceleration;
determining a modified trajectory by modifying a longitudinal profile associated with the trajectory based at least in part on the first acceleration control and the first spatial implementation point; and
causing the vehicle to be controlled in accordance with the modified trajectory.
|