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 |
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.
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