Acceleration control to prevent collisions

1. A method for controlling an acceleration rate of a vehicle, comprising:

monitoring, at a first time period in response to the vehicle moving from a standstill, a first current speed and a first acceleration rate of the vehicle limited by an initial target acceleration rate;

reducing the initial target acceleration rate to a first adjusted target acceleration rate based on the first acceleration rate satisfying a first acceleration adjustment condition and the first current speed satisfying a second acceleration adjustment condition;

monitoring, at a second time period, a second acceleration rate and a second current speed of the vehicle based on reducing the initial target acceleration rate, the second acceleration rate being limited by the first adjusted target acceleration rate; and

increasing the first adjusted target acceleration rate to a second adjusted target acceleration rate based on the second acceleration rate satisfying a first target acceleration condition or the second current speed satisfying a second target acceleration condition.

2. The method of claim 1 , wherein, prior to the first time period, the vehicle is at the standstill at an intersection or a crosswalk.

3. The method of claim 1 , wherein the first adjusted target acceleration rate is less than the initial target acceleration rate.

4. The method of claim 1 , wherein the vehicle operates in an autonomous mode.

5. The method of claim 1 , wherein:

the first acceleration adjustment condition is satisfied based on the first acceleration rate being greater than an acceleration rate threshold; and

the second acceleration adjustment condition is satisfied based on the first current speed being less than a speed threshold.

6. The method of claim 1 , wherein:

the first target acceleration condition is satisfied based on the second acceleration rate being less than or equal to an acceleration rate threshold; and

the second target acceleration condition is satisfied based on the second current speed being greater than or equal to a speed threshold.

7. The method of claim 1 , further comprising controlling the vehicle to decelerate and come to the standstill based on detecting a crosswalk, an intersection, or an object on a road.

8. An apparatus for controlling an acceleration rate of a vehicle, comprising:

one or more processors; and

one or more memories coupled with the one or more processors and storing instructions operable, when executed by the one or more processors, to cause the apparatus to:

monitor, at a first time period in response to the vehicle moving from a standstill, a first current speed and a first acceleration rate of the vehicle limited by an initial target acceleration rate;

reduce the initial target acceleration rate to a first adjusted target acceleration rate based on the first acceleration rate satisfying a first acceleration adjustment condition and the first current speed satisfying a second acceleration adjustment condition;

monitor, at a second time period, a second acceleration rate and a second current speed of the vehicle based on reducing the initial target acceleration rate, the second acceleration rate being limited by the first adjusted target acceleration rate; and

increase the first adjusted target acceleration rate to a second adjusted target acceleration rate based on the second acceleration rate satisfying a first target acceleration condition or the second current speed satisfying a second target acceleration condition.

9. The apparatus of claim 8 , wherein, prior to the first time period, the vehicle is at the standstill at an intersection or a crosswalk.

10. The apparatus of claim 8 , wherein the first adjusted target acceleration rate is less than the initial target acceleration rate.

11. The apparatus of claim 8 , wherein the vehicle operates in an autonomous mode.

12. The apparatus of claim 8 , wherein:

the first acceleration adjustment condition is satisfied based on the first acceleration rate being greater than an acceleration rate threshold; and

the second acceleration adjustment condition is satisfied based on the first current speed being less than a speed threshold.

13. The apparatus of claim 8 , wherein:

the first target acceleration condition is satisfied based on the second acceleration rate being less than or equal to an acceleration rate threshold; and

the second target acceleration condition is satisfied based on the second current speed being greater than or equal to a speed threshold.

14. The apparatus of claim 8 , wherein execution of the instructions further cause the apparatus to control the vehicle to decelerate and come to the standstill based on detecting a crosswalk, an intersection, or an object on a road.

15. A non-transitory computer-readable medium having program code recorded thereon for controlling an acceleration rate of a vehicle, the program code executed by a processor and comprising:

program code to monitor, at a first time period in response to the vehicle moving from a standstill, a first current speed and a first acceleration rate of the vehicle limited by an initial target acceleration rate;

program code to reduce the initial target acceleration rate to a first adjusted target acceleration rate based on the first acceleration rate satisfying a first acceleration adjustment condition and the first current speed satisfying a second acceleration adjustment condition;

program code to monitor, at a second time period, a second acceleration rate and a second current rate speed of the vehicle based on reducing the initial target acceleration rate, the second acceleration rate being limited by the first adjusted target acceleration rate; and

program code to increase the first adjusted target acceleration rate to a second adjusted target acceleration rate based on the second acceleration rate satisfying a first target acceleration condition or the second current speed satisfying a second target acceleration condition.

16. The non-transitory computer-readable medium of claim 15 , wherein the vehicle is at the standstill at an intersection or a crosswalk.

17. The non-transitory computer-readable medium of claim 15 , wherein:

the first acceleration adjustment condition is satisfied based on the first acceleration rate being greater than an acceleration rate threshold; and

the second acceleration adjustment condition is satisfied based on the first current speed being less than a speed threshold.

18. The non-transitory computer-readable medium of claim 15 , wherein:

the first target acceleration condition is satisfied based on the second acceleration rate being less than or equal to an acceleration rate threshold; and

the second target acceleration condition is satisfied based on the second current speed being greater than or equal to a speed threshold.

19. The non-transitory computer-readable medium of claim 15 , wherein the vehicle operates in an autonomous mode.

20. The non-transitory computer-readable medium of claim 15 , wherein the program code further comprises program code to control the vehicle to decelerate and come to the standstill based on detecting a crosswalk, an intersection, or an object on a road.