CPC G05D 1/0223 (2013.01) [B60T 8/321 (2013.01); B60W 30/09 (2013.01); B60W 30/0953 (2013.01); G05D 1/0088 (2013.01); G05D 2201/0213 (2013.01)] | 22 Claims |
1. A method of controlling braking a vehicle in an autonomous driving mode, the method comprising:
controlling, by one or more processors, the vehicle in the autonomous driving mode according to a first braking control mode using a first model to adjust a position of a vehicle relative to an expected position of a current trajectory of the vehicle;
predicting, by the one or more processors, how close to a maximum deviation threshold the vehicle would come if a maximum braking strength for the vehicle was applied according to a second braking control mode;
determining, by the one or more processors, the maximum deviation threshold based on an object in front of the vehicle; and
based on the prediction, controlling, by the one or more processors, the vehicle in the autonomous driving mode according to the second braking control mode.
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