Speed behavior planning for vehicles
Among other things, a system provides speed behavior planning for vehicles with autonomous driving capabilities.
1. A method comprising:
identifying, by at least one processor, speed limits along a trajectory;
determining, by the at least one processor, candidate speed behaviors by concatenating the speed limits along the trajectory;
deriving, by the at least one processor, a definitive speed behavior by using the candidate speed behaviors, wherein the deriving includes smoothing at least one speed discontinuity between two concatenated speed limits along the trajectory; and
operating, by the at least one processor, a driving component of a vehicle in accordance with the definitive speed behavior.
2. The method of claim 1 , in which smoothing the at least one speed discontinuity comprises smoothing a step-down speed discontinuity.
3. The method of claim 1 , in which smoothing the at least one speed discontinuity comprises smoothing a step-up speed discontinuity.
4. The method of claim 1 , in which smoothing the at least one speed discontinuity comprises ignoring a step-up speed discontinuity.
5. The method of claim 1 , in which deriving the definitive speed behavior comprises using an optimization algorithm to find the definitive speed behavior.
6. The method of claim 5 , in which deriving the definitive speed behavior comprises treating the candidate speed behaviors as a soft constraint in the optimization algorithm.
7. The method of claim 5 , in which deriving the definitive speed behavior comprises treating the candidate speed behaviors as a hard constraint in the optimization algorithm.
8. A vehicle comprising:
a planning component to:
identify speed limits along a trajectory;
determine candidate speed behaviors by concatenating the speed limits along the trajectory;
derive a definitive speed behavior by using the candidate speed behaviors, wherein the deriving includes smoothing at least one speed discontinuity between two concatenated speed limits along the trajectory; and
operate at least one driving component of the vehicle in accordance with the definitive speed behavior.
9. The vehicle of claim 8 , in which smoothing the at least one speed discontinuity comprises smoothing a step-down speed discontinuity.
10. The vehicle of claim 8 , in which smoothing the at least one speed discontinuity comprises smoothing a step-up speed discontinuity.
11. The vehicle of claim 8 , in which smoothing the at least one speed discontinuity comprises ignoring a step-up speed discontinuity.
12. The vehicle of claim 8 , in which the planning component derives the definitive speed behavior using an optimization algorithm to find the definitive speed behavior.
13. The vehicle of claim 12 , in which the planning component derives the definitive speed behavior by treating the candidate speed behaviors as a soft constraint in the optimization algorithm.
14. The vehicle of claim 12 , in which the planning component derives the definitive speed behavior by treating the candidate speed behaviors as a hard constraint in the optimization algorithm.
15. An apparatus comprising:
a storage for instructions; and
at least one processor that, when provided the instructions, operates in accordance with the instructions to perform operations comprising:
identifying speed limits along a trajectory;
determining candidate speed behaviors associated by concatenating the speed limits along the trajectory;
deriving a definitive speed behavior by using the candidate speed behaviors, wherein the deriving includes smoothing at least one speed discontinuity between two concatenated speed limits along the trajectory; and
operating a driving component of a vehicle in accordance with the definitive speed behavior.
16. The apparatus of claim 15 , in which smoothing the at least one speed discontinuity comprises smoothing a step-down speed discontinuity.
17. The apparatus of claim 15 , in which smoothing the at least one speed discontinuity comprises smoothing a step-up speed discontinuity.
18. The apparatus of claim 15 , in which smoothing the at least one speed discontinuity comprises ignoring a step-up speed discontinuity.
19. The apparatus of claim 15 , in which the definitive speed behavior is derived using an optimization algorithm to find the definitive speed behavior.
20. The apparatus of claim 19 , in which the the definitive speed behavior is derived by treating the candidate speed behaviors as a partially soft constraint and a partially hard constraint in the optimization algorithm.