Architecture for Variable Motion Control Envelope

A vehicle comprising:

• a driving system including a steering subsystem, an acceleration subsystem, and a deceleration subsystem to control driving of the vehicle;
• a control system including one or more processors operatively coupled to the driving system and configured to:
• estimate an internal force impact on the vehicle based on at least one of:
• information representative of an ability of the driving subsystem to apply force or acceleration to the vehicle;
• or
• vehicle kinetic information of the vehicle including at least one or more mass properties of the vehicle or a state of motion of the vehicle;
• generate an available acceleration model for the vehicle based at least on the estimated internal force impact;
• and
• control the vehicle in an autonomous driving mode based on the available acceleration model.

A non-transitory, tangible, computer-readable medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to implement a method, the method comprising:

• estimating an internal force impact on a vehicle based on at least one of:
• information representative of an ability of a driving subsystem of the vehicle to apply force or acceleration to the vehicle;
• or
• vehicle kinetic information of the vehicle including at least one or more mass properties of the vehicle or a state of motion of the vehicle;
• generating an available acceleration model for the vehicle based at least on the estimated internal force impact;
• and
• controlling the vehicle, in an autonomous driving mode, based on the available acceleration model.