US 11,703,875 B2
Braking control behaviors for autonomous vehicles
Daniel Trawick Egnor, Palo Alto, CA (US); Nolan McPeek-Bechtold, Belmont, CA (US); James Harris, San Francisco, CA (US); Andrew Barton-Sweeney, Oakland, CA (US); Ruslan Kurdyumov, San Francisco, CA (US); Spencer Alexander, San Francisco, CA (US); and Ryan Cash, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on May 12, 2021, as Appl. No. 17/318,159.
Application 17/318,159 is a continuation of application No. 16/158,718, filed on Oct. 12, 2018, granted, now 11,036,234.
Prior Publication US 2021/0325896 A1, Oct. 21, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); B60W 30/09 (2012.01); B60T 8/32 (2006.01); G05D 1/00 (2006.01); B60W 30/095 (2012.01)
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
OG exemplary drawing
 
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.