US 11,634,134 B2 · Using discomfort for speed planning in responding to tailgating vehicles for autonomous vehicles

Abstract

Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. This vehicle may be determined to be a tailgating vehicle. An initial allowable discomfort value representing expected discomfort of an occupant of the first vehicle and expected discomfort of an occupant of the second vehicle may be identified. Determining a speed profile for a future trajectory of the first vehicle that meets the value may be attempted based on a set of factors corresponding to a reaction of the tailgating vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.

Claims20

Dependent claims

A method of controlling a first vehicle, the method comprising:

while maneuvering the first vehicle in an autonomous driving mode, identifying, by one or more processors, a second vehicle as a tailgating vehicle;
identifying, by the one or more processors, an initial allowable discomfort value;
attempting, by the one or more processors, to determine a speed profile for a future trajectory of the first vehicle that meets the initial allowable discomfort, value based on the tailgating vehicle;
when a speed profile that meets the initial allowable discomfort value cannot be determined, adjusting, by the one or more processors, the initial allowable discomfort value until a speed profile that meets an adjusted allowable discomfort value is determined;
and
using, by the one or more processors, the speed profile that meets the adjusted allowable discomfort value to control the first vehicle in the autonomous driving mode.

3 more elements

Dependencies are inferred from the claim text.

Using discomfort for speed planning in responding to tailgating vehicles for autonomous vehicles

Life of this patent

Using discomfort for speed planning in responding to tailgating vehicles for autonomous vehicles

Life of this patent

Abstract

Claims20