Using discomfort for speed planning of autonomous vehicles

摘要

Aspects of the present disclosure relate to controlling a first vehicle (100) in an autonomous operation mode.A second vehicle (720, 820, 920, 1020) may be identified while controlling in an autonomous operation mode.The geometry of the future trajectory of the first vehicle can be identified and the initial acceptable discomfort value can be identified.Determining the velocity profile of the geometry that meets the value can be attempted by determining the discomfort value of the velocity profile based on the set of factors relating to the discomfort of the passenger of at least the first vehicle and the discomfort of the passenger of the second vehicle.If the speed profile satisfying the value cannot be determined, the value can be adjusted until the speed profile satisfying the value is determined.The velocity profile that meets the adjusted value is used to control the first vehicle in the autonomous operation mode.Selection diagram