Precise pull-over with mechanical simulation

A system for optimizing vehicle stopping location, comprising:

• a central computer to transmit map data;
• and
• a vehicle including:
• a sensor suite including external vehicle sensors to sense a vehicle environment and generate sensor data;
• a perception system to determine relative locations of nearby objects;
• an on board computer to receive map data from the central computer, to identify a stopping position for the vehicle, and to identify a first plan for the vehicle to drive to the stopping position, wherein the first plan is based in part on the relative locations of nearby objects;
• and
• a simulation system to:
• generate a first simulation of the vehicle during a stop at the stopping position, wherein the first simulation includes a vehicle door opening;
• generate a second simulation of a passenger during the stop at the stopping position;
• and
• wherein the onboard computer is to determine a score for the first plan based on the first and second simulations;
• identify a second plan for reaching the stopping position;
• generate a third simulation of the vehicle during a stop at the stopping position;
• generate a fourth simulation of the passenger during a stop at the stopping position;
• and
• determine a second score for the second plan based on the third and fourth simulations;
• wherein the vehicle is operated according to a selected one of the first plan and the second plan.

A method for optimizing stopping location for a vehicle, comprising:

• identifying a first plan for reaching a stopping position for the vehicle;
• activating a perception system to determine relative locations of nearby objects;
• generating a first simulation of the vehicle during a stop at the stopping position, wherein the first simulation includes a first vehicle door opening and one of a user entering the vehicle through the first vehicle door and the user exiting the vehicle through the first vehicle door;
• generating a second simulation of the vehicle during the stop at the stopping position, wherein the second simulation includes a second vehicle door opening and one of the user entering the vehicle through the second vehicle door and the user exiting the vehicle through the second vehicle door;
• determining a first score for the first simulation and a second score for the second simulation;
• identifying a second plan for reaching the stopping position;
• generating a third simulation of the vehicle during a stop at the stopping position;
• generating a fourth simulation of the passenger during a stop at the stopping position;
• determining a second score for the second plan based on the third and fourth simulations;
• and
• operating the vehicle according to a selected one of the first plan and the second plan.