SYSTEMS AND METHODS FOR IMPLEMENTING A PREEMPTIVE CONTROL FOR AN AUTONOMOUS VEHICLE TO IMPROVE RIDE QUALITY

1 . A computer-implemented method for preemptive control of a vehicle to improve ride quality comprising:

determining, by a computing system onboard the vehicle, based on a high definition map, an imperfection on a road ahead of the vehicle;

detecting, by the computing system, based on data collected by at least one sensor onboard the vehicle, the imperfection on the road ahead;

determining, by the computing system, a next action of the vehicle based on the imperfection; and

synchronizing a timing of the next action to a predicted arrival time at the imperfection.

2 . The computer-implemented method of claim 1 , wherein the synchronizing a timing of the next action to a predicted arrival time comprises synchronizing a timing of the next action to counteract a predicted consequence resulting when the vehicle is predicted to arrive at the imperfection.

3 . The computer-implemented method of claim 1 , wherein determining the next action of the vehicle based on the imperfection comprises:

determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;

determining that the vehicle is on the lane on which the imperfection is located;

determining, based on the high definition map and the data collected by the at least one sensor, a size of the imperfection; and

changing a speed of the vehicle in response to the size of the imperfection.

4 . The computer-implemented method of claim 3 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:

determining that the size of the imperfection is below a threshold size; and

accelerating the vehicle prior to reaching the imperfection.

5 . The computer-implemented method of claim 3 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:

determining that the size of the imperfection exceeds a threshold size; and

decelerating the vehicle prior to reaching the imperfection.

6 . The computer-implemented method of claim 1 , wherein determining the next action of the vehicle based on the imperfection comprises:

determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;

determining that the vehicle is on the lane on which the imperfection is located;

acquiring, through the data collected by the at least one sensor, a traffic density of a neighboring lane next to the lane the vehicle is on;

determining, based on the traffic density, a safety of the vehicle changing to the neighboring lane; and

directing the vehicle to change lanes from the lane to the neighboring lane prior to reaching the imperfection, based on the determined safety.

7 . The computer-implemented method of claim 6 , wherein determining a safety of the vehicle changing to the neighboring lane comprises:

determining, based on the at least one sensor, the neighboring lane is free of moving vehicles within a predetermined distance of the vehicle; and

in response to determining that the neighboring lane is free of moving vehicles within a predetermined distance, determining that the safety satisfies a safety condition.

8 . The computer-implemented method of claim 1 , wherein determining the next action of the vehicle based on the imperfection comprises:

determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;

determining that the vehicle is on the lane on which the imperfection is located;

acquiring, through the data collected by the at least one sensor, a traffic density of a neighboring lane next to the lane the vehicle is on;

determining, based on the traffic density, a safety of the vehicle changing to the neighboring lane;

determining, based on the high definition map and the data collected by the at least one sensor, a size of the imperfection; and

changing a speed of the vehicle based on the size of the imperfection.

9 . The computer-implemented method of claim 1 , further comprising:

determining, based on the high definition map and the data collected by the least one sensor, an inclination or declination of the road ahead;

changing a speed of the vehicle in anticipation of the inclination or declination.

10 . The computer-implemented method of claim 1 , wherein the at least one sensor onboard the vehicle includes at least one of LiDAR, radar, or camera.

11 . A computing system for preemptive control of a vehicle to improve ride quality comprising:

one or more processors; and

a memory storing instructions that, when executed by the one or more processor, causes the computer system to perform a method comprising:

determining, based on a high definition map, an imperfection on a road ahead of the vehicle;

detecting, through data collected by at least one sensor onboard the vehicle, the imperfection on the road ahead;

determining a next action of the vehicle based on the imperfection; and

synchronizing a timing of the next action to a predicted arrival time at the imperfection.

12 . The computing system of claim 11 , wherein determining the next action of the vehicle based on the imperfection comprises:

determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;

determining that the vehicle is on the lane on which the imperfection is located;

determining, based on the high definition map and the data collected by the at least one sensor, a size of the imperfection; and

changing a speed of the vehicle in response to the size of the imperfection.

13 . The computing system of claim 12 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:

determining that the size of the imperfection is below a threshold size; and

accelerating the vehicle prior to reaching the imperfection.

14 . The computing system of claim 12 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:

determining that the size of the imperfection exceeds a threshold size; and

decelerating the vehicle prior to reaching the imperfection.

15 . The computing system of claim 11 , wherein determining the next action of the vehicle based on the imperfection comprises:

determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;

determining that the vehicle is on the lane on which the imperfection is located;

acquiring, through the data collected by the at least one sensor, a traffic density of a neighboring lane next to the lane the vehicle is on;

determining, based on the traffic density, a safety of the vehicle changing to the neighboring lane; and

directing the vehicle to change lanes from the lane to the neighboring lane prior to reaching to the imperfection, based on the determined safety.

16 . A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause a computer system for preemptive control of an vehicle to perform a method comprising:

determining, based on a high definition map, an imperfection on a road ahead of the vehicle;

detecting, through data collected by at least one sensor onboard the vehicle, the imperfection on the road ahead;

determining a next action of the vehicle based on the imperfection; and

synchronizing a timing of the next action to a predicted arrival time at the imperfection.

17 . The non-transitory computer-readable medium of claim 16 , wherein determining the next action of the vehicle based on the imperfection comprises:

determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;

determining that the vehicle is on the lane on which the imperfection is located;

determining, based on the high definition map and the data collected by the at least one sensor, a size of the imperfection; and

changing a speed of the vehicle in response to the size of the imperfection.

18 . The non-transitory computer-readable medium of claim 17 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:

determining that the size of the imperfection is below a threshold size; and

accelerating the vehicle prior to reaching the imperfection.

19 . The non-transitory computer-readable medium of claim 17 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:

determining that the size of the imperfection is below a threshold size; and

accelerating the vehicle prior to reaching the imperfection.

20 . The non-transitory computer-readable medium of claim 16 , wherein determining the next action of the vehicle based on the imperfection comprises:

determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;

determining that the vehicle is on the lane on which the imperfection is located;

acquiring, through the data collected by the at least one sensor, a traffic density of a lane adjacent to the lane the vehicle is on;

determining, based on the traffic density, a safety of the vehicle changing to the neighboring lane; and

directing the vehicle to change lanes from the lane to the neighboring lane prior to reaching to the imperfection, based on the determined safety.