Operation of a vehicle using multiple motion constraints

1. A method comprising:

identifying, using one or more processors of a vehicle, a moving object, wherein the vehicle has a likelihood of collision with the moving object greater than a threshold;

generating, using the one or more processors, a plurality of motion constraints for operating the vehicle, wherein at least one motion constraint of the plurality of motion constraints comprises a minimum speed of the vehicle greater than zero to avoid a collision of the vehicle with the moving object, wherein the minimum speed of the vehicle is determined based on a predicted speed and trajectory of the moving object;

identifying, using the one or more processors, one or more motion constraints of the plurality of motion constraints for operating the vehicle to avoid a collision of the vehicle with the moving object; and

operating, using the one or more processors, the vehicle in accordance with the one or more motion constraints of the plurality of motion constraints.

2. The method of claim 1 , wherein a second motion constraint of the plurality of motion constraints comprises a maximum speed of the vehicle to avoid a collision of the vehicle with the moving object.

3. The method of claim 1 , wherein a third motion constraint of the plurality of motion constraints comprises a minimum acceleration of the vehicle to avoid a collision of the vehicle with the moving object.

4. The method of claim 1 , wherein a fourth motion constraint of the plurality of motion constraints comprises a maximum acceleration of the vehicle to avoid a collision of the vehicle with the moving object.

5. The method of claim 1 , further comprising:

identifying, using the one or more processors, a second moving object, wherein the vehicle has a second likelihood of collision with the second moving object greater than a threshold; and

generating, using the one or more processors, a second plurality of motion constraints for operating the vehicle to avoid a collision of the vehicle with the moving object.

6. The method of claim 1 , further comprising aggregating, using the one or more processors, the plurality of motion constraints for operating the vehicle into a motion planning graph.

7. The method of claim 6 , further comprising:

associating the motion planning graph with the plurality of motion constraints to generate a minimum-violation motion planning graph; and

determining, using the minimum-violation motion planning graph, a minimum number of violations of the plurality of motion constraints.

8. The method of claim 1 , wherein a fifth motion constraint of the plurality of motion constraints specifies a directional orientation of the vehicle to avoid a collision of the vehicle with the moving object.

9. The method of claim 1 , wherein a sixth motion constraint of the plurality of motion constraints comprises a maximum speed or a maximum acceleration of the vehicle associated with a level of passenger comfort measured by passenger sensors located on the vehicle.

10. The method of claim 9 , wherein the at least one motion constraint of the plurality of motion constraints is ranked higher than the sixth motion constraint.

11. The method of claim 9 , wherein the operating of the vehicle in accordance with the plurality of motion constraints comprises violating the sixth motion constraint to avoid a collision of the vehicle with the moving object.

12. The method of claim 1 , wherein the plurality of motion constraints is ranked in a hierarchical order.

13. The method of claim 1 , wherein the identifying of the plurality of motion constraints comprises:

weighting, using the one or more processors, a violation of each motion constraint of the plurality of motion constraints by a rank of the motion constraint; and

determining, using the one or more processors, a weighted aggregate of a number of violations of the plurality of motion constraints.

14. The method of claim 1 , further comprising:

determining, using the one or more processors, that operating the vehicle in accordance with the at least one motion constraint comprising a minimum speed to avoid a collision of the vehicle with the moving object violates a second motion constraint comprising a maximum speed; and

stopping, using the one or more processors, the vehicle.

15. The method of claim 1 , further comprising determining, using hysteresis data, a speed for operating the vehicle based on the plurality of motion constraints.

16. The method of claim 1 , wherein a seventh motion constraint of the plurality of motion constraints comprises a minimum speed of the vehicle to avoid blocking of an intersection by the vehicle.

17. A vehicle comprising:

one or more computer processors; and

one or more non-transitory storage media storing instructions which, when executed by the one or more computer processors, cause the one or more computer processors to:

identify a moving object, wherein the vehicle has a likelihood of collision with the moving object greater than a threshold;

generate a plurality of motion constraints for operating the vehicle, wherein at least one motion constraint of the plurality of motion constraints comprises a minimum speed of the vehicle greater than zero to avoid a collision of the vehicle with the moving object, wherein the minimum speed of the vehicle is determined based on a predicted speed and trajectory of the moving object;

identify one or more motion constraints of the plurality of motion constraints for operating the vehicle to avoid a collision of the vehicle with the moving object; and

operate the vehicle in accordance with the one or more motion constraints of the plurality of motion constraints.

18. The vehicle of claim 17 , wherein a second motion constraint of the plurality of motion constraints comprises a maximum speed of the vehicle to avoid a collision of the vehicle with the moving object.

19. The vehicle of claim 17 , wherein a third motion constraint of the plurality of motion constraints comprises a minimum acceleration of the vehicle to avoid a collision of the vehicle with the moving object.

20. One or more non-transitory storage media storing instructions which, when executed by one or more computing devices, cause the one or more computing devices to:

identify a moving object, wherein a vehicle has a likelihood of collision with the moving object greater than a threshold;

generate a plurality of motion constraints for operating the vehicle, wherein at least one motion constraint of the plurality of motion constraints comprises a minimum speed of the vehicle greater than zero to avoid a collision of the vehicle with the moving object, wherein the minimum speed of the vehicle is determined based on a predicted speed and trajectory of the moving object;

identify one or more motion constraints of the plurality of motion constraints for operating the vehicle to avoid a collision of the vehicle with the moving object; and

operate the vehicle in accordance with the one or more motion constraints of the plurality of motion constraints.