Generating trajectories for transitioning from decelerations

One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

• receiving first data representing that a vehicle is being controlled based at least in part on a first trajectory determined in accordance with a nominal acceleration limit, wherein the first trajectory is associated with a lateral motion profile;
• causing the vehicle to apply a maximum deceleration, a first magnitude of the maximum deceleration being greater than the nominal acceleration limit and a second magnitude of a second deceleration associated with a safety trajectory associated with responding to an event;
• receiving second data representing a measured velocity associated with the vehicle at a first time;
• determining, based at least in part on the measured velocity and the maximum deceleration, a predicted velocity associated with the vehicle at a second time after the first time;
• determining, based at least in part on the lateral motion profile and the predicted velocity, a second trajectory for returning the vehicle to nominal operations;
• determining third data representing whether to control the vehicle based at least in part on the second trajectory;
• and
• controlling the vehicle based at least in part on the third data.

A method comprising:

• receiving first data representing that a vehicle is being controlled based at least in part on a first trajectory determined in accordance with a nominal acceleration limit, wherein the first trajectory is associated with a lateral motion profile;
• causing the vehicle to apply a maximum deceleration, a first magnitude of the maximum deceleration being greater than the nominal acceleration limit and a second magnitude of a second deceleration associated with a safety trajectory associated with responding to an event;
• receiving second data representing a measured velocity associated with the vehicle at a first time;
• determining, based at least in part on the measured velocity and the maximum deceleration, a predicted velocity associated with the vehicle at a second time after the first time;
• determining, based at least in part on the lateral motion profile and the predicted velocity, a second trajectory for returning the vehicle to nominal operations;
• determining third data representing whether to control the vehicle based at least in part on the second trajectory;
• and
• controlling the vehicle based at least in part on the third data.