Utilization of smoothing functions for acceleration and deceleration profile generation

A control system of an autonomous vehicle, the control system comprising:

• a processor;
• and
• a memory coupled with and readable by the processor and having stored therein a set of instructions which, when executed by the processor, causes the processor to control acceleration or deceleration of the vehicle by:
• detecting a condition necessitating a change in a velocity of the vehicle;
• determining a plurality of control parameters for the change in the velocity of the vehicle;
• applying a Gompertz function using the plurality of control parameters, the Gompertz function producing a non-linear, asymmetrical curve for the velocity of the vehicle based on the plurality of control parameters, the non-linear, asymmetrical curve having a lower rate of change in the velocity of the vehicle at a beginning and an end of the curve than in a middle of the curve;
• generating a profile for the change in the velocity of the vehicle based on the one or more control parameters and the non-linear, asymmetrical curve produced by applying the Gompertz function;
• and
• applying the generated profile to control units of one or more subsystems of the vehicle, wherein the control units operate the one or more subsystems of the vehicle to change the velocity of the vehicle according to the generated profile, and wherein applying the smoothing function causes the control units to change the velocity of the vehicle according to the non-linear, asymmetrical curve produced by applying the Gompertz function using the plurality of control parameters.

A non-transitory computer-readable medium comprising a set of instructions stored therein which, when executed by a processor, causes the processor to control acceleration of deceleration of a vehicle by:

• detecting a condition necessitating a change in a velocity of the vehicle;
• determining a plurality of control parameters for the change in the velocity of the vehicle;
• applying a Gompertz function using the plurality of control parameters, the Gompertz function producing a non-linear, asymmetrical curve for the velocity of the vehicle based on the plurality of control parameters, the non-linear, asymmetrical curve having a lower rate of change in the velocity of the vehicle at a beginning and an end of the curve than in a middle of the curve;
• generating a profile for the change in the velocity of the vehicle based on the one or more control parameters and the non-linear, asymmetrical curve produced by applying the Gompertz function;
• and
• applying the generated profile to control units of one or more subsystems of the vehicle, wherein the control units operate the one or more subsystems of the vehicle to change the velocity of the vehicle according to the generated profile, and wherein applying the smoothing function causes the control units to change the velocity of the vehicle according to the non-linear, asymmetrical curve produced by applying the Gompertz function using the plurality of control parameters.