US 12,168,438 B2
Systems and methods for controlling speed of an autonomous vehicle
Alice Kassar, Detroit, MI (US); Scott Julian Varnhagen, Ann Arbor, MI (US); and Ramadev Burigsay Hukkeri, Pittsburgh, PA (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed on Oct. 11, 2021, as Appl. No. 17/498,358.
Prior Publication US 2023/0115758 A1, Apr. 13, 2023
Int. Cl. B60W 30/14 (2006.01); B60W 40/105 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01); G06N 20/00 (2019.01)
CPC B60W 30/143 (2013.01) [B60W 40/105 (2013.01); B60W 50/00 (2013.01); B60W 60/001 (2020.02); G06N 20/00 (2019.01); B60W 2050/0054 (2013.01); B60W 2520/10 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method, comprising:
by a computing device:
generating a spatial domain speed profile for a path that is represented as a sequence of poses of a vehicle between a first point and a second point, wherein the generating uses a longitudinal problem and excludes a derate interval that corresponds to a portion of the path within which a speed of the vehicle cannot exceed a threshold;
generating, using the spatial domain speed profile and the derate interval, a derate profile for the path, wherein generating the derate profile for the path includes combining the derate interval with the spatial domain speed profile and determining a speed as a weighted average at each point along the path;
transforming, using the derate profile, the derate interval to a temporal derate interval comprising time steps at which the speed of the vehicle cannot exceed the threshold while traversing the path;
generating, using the temporal derate interval as an input to the longitudinal problem, a speed profile for the path; and
generating, based on the speed profile and the path, a trajectory of the vehicle for navigating between the first point and the second point.