Utilization of smoothing functions for acceleration and deceleration profile generation
According to one embodiment, acceleration and deceleration profiles can be generated and applied dynamically when a condition exist necessitating a change in the velocity of an autonomously controlled vehicle. An acceleration or deceleration profile can be generated when conditions exist necessitating a change in velocity and according to a smoothing function and based on a set of control parameters such as a target velocity, a determined time to reach the target velocity, and a maximum rate of change for the velocity of the vehicle. The smoothing function can be non-linear and can produce a profile representing a 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. In this way, changes in velocity can be more gradual at a beginning and end of the change and more aggressive in the middle.
1. A method for controlling acceleration or deceleration of a vehicle, the method comprising:
detecting, by a vehicle control system of the vehicle operating the vehicle at least semi-autonomously, a condition necessitating a change in a velocity of the vehicle;
determining, by the vehicle control system, a plurality of control parameters for the change in the velocity of the vehicle;
applying, by the vehicle control system, 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, by the vehicle control system, 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, by the vehicle control system, 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.
2. The method of claim 1 , wherein the plurality of control parameters comprise at least a determined target velocity, a determined time to reach the determined target velocity, and a maximum rate of change for the velocity of the vehicle, wherein a vertical axis of the curve represents the rate of change for the velocity of the vehicle up to the maximum rate of change, wherein a horizontal axis of the curve represents a time, and wherein a duration of the curve along the horizontal axis equals the predetermined time to reach the determined target velocity.
3. The method of claim 2 , wherein the non-linear, asymmetrical curve represented by the profile produced by applying the Gompertz function is asymmetrical about a midpoint of the curve.
4. The method of claim 2 , wherein the Gompertz function comprises a first variable, a second variable, and a third variable, wherein a value of the first variable defined in the plurality of control parameters defines an asymptote of the curve, a value of the second variable defined in the plurality of control parameters defines a displacement of the curve along the horizontal axis of the curve, and the third variable defined in the plurality of control parameters defines a growth rate of the curve along a vertical axis of the curve.
5. The method of claim 2 , wherein the change in the velocity of the vehicle comprises decelerating the vehicle to the determined target velocity.
6. The method of claim 2 , wherein the change in the velocity of the vehicle comprises accelerating the vehicle to the determined target velocity.
7. 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.
8. The control system of claim 7 , wherein the plurality of control parameters comprise at least a determined target velocity, a determined time to reach the determined target velocity, and a maximum rate of change for the velocity of the vehicle, wherein a vertical axis of the curve represents the rate of change for the velocity of the vehicle up to the maximum rate of change, wherein a horizontal axis of the curve represents a time, and wherein a duration of the curve along the horizontal axis equals the predetermined time to reach the determined target velocity.
9. The control system of claim 8 , wherein the Gompertz function comprises a first variable, a second variable, and a third variable, wherein a value of the first variable defined in the plurality of control parameters defines an asymptote of the curve, a value of the second variable defined in the plurality of control parameters defines a displacement of the curve along the horizontal axis of the curve, and the third variable defined in the plurality of control parameters defines a growth rate of the curve along a vertical axis of the curve.
10. 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.
11. The non-transitory computer-readable medium of claim 10 , wherein the plurality of control parameters comprise at least a determined target velocity, a determined time to reach the determined target velocity, and a maximum rate of change for the velocity of the vehicle, wherein a vertical axis of the curve represents the rate of change for the velocity of the vehicle up to the maximum rate of change, wherein a horizontal axis of the curve represents a time, and wherein a duration of the curve along the horizontal axis equals the predetermined time to reach the determined target velocity.
12. The non-transitory computer-readable medium of claim 11 , wherein the Gompertz function comprises a first variable, a second variable, and a third variable, wherein a value of the first variable defined in the plurality of control parameters defines an asymptote of the curve, a value of the second variable defined in the plurality of control parameters defines a displacement of the curve along the horizontal axis of the curve, and the third variable defined in the plurality of control parameters defines a growth rate of the curve along a vertical axis of the curve.