A controller, responsive to accelerator pedal release and a speed of the vehicle being less than a threshold, operates an electric machine to provide braking torque according to a predetermined speed versus time profile that defines a predetermined duration for the speed to become zero and a target speed for each time instant during the predetermined duration such that, for a given one of the time instants, the electric machine increases the braking torque responsive to the speed being greater than the target speed and decreases the braking torque responsive to the speed being less than the target speed.

Systems and methods to perform behavioral planning in an autonomous vehicle from a reference state involve generating a set of actions of a fixed size and fixed order according to a predefined methodology. Each action is a semantic instruction for a next motion of the vehicle. A set of trajectories is generated from the set of actions as an instruction indicating a path and a velocity profile to generate steering angles and accelerations for implementation by the vehicle. A trajectory filter is applied to filter the set of trajectories such that unfiltered trajectories are candidate trajectories. Applying the trajectory filter includes assessing the path and velocity profile indicated by each of the set of trajectories. A selected trajectory is used to control the vehicle or the action that corresponds to the selected trajectory is used in trajectory planning to generate a final trajectory that is used to control the vehicle.

When a subject vehicle arrives at a destination while traveling, or when a driver of the subject vehicle becomes unable to drive during travel or when a failure occurs that interferes with the travel of the subject vehicle during the travel, a control plan for autonomous stop control is generated, the control plan comprising deceleration control for decreasing a speed of the subject vehicle; pulling over control for moving the subject vehicle from a lane in which the subject vehicle travels to the shoulder of the road; and stop control for stopping the subject vehicle at the shoulder of the road, and on a basis of this control plan, the autonomous stop control is performed to decelerate the subject vehicle and then move it to the shoulder of the road by individually and sequentially performing each of the deceleration control, the pulling over control, and the stop control.

Provided are a method, a device, and a computer program for controlling stop of an autonomous vehicle using a speed profile. The method of controlling, by a computing device, stop of an autonomous vehicle using a speed profile includes obtaining surrounding information of an autonomous vehicle, determining candidate routes for controlling stop of the autonomous vehicle on the basis of the surrounding information, calculating scores for candidate driving plans for the autonomous vehicle to travel the determined candidate routes according to a preset speed profile, and finalizing a driving plan for the autonomous vehicle on the basis of the calculated scores.

A method for controlling deceleration of a vehicle includes determining, by a controller, a reference deceleration driving distance of the vehicle based on current speed information of the vehicle and stop signal residual time information of a traffic light located ahead of the vehicle, determining, by the controller, whether the reference deceleration driving distance is less than or equal to a distance between the vehicle and the traffic light, and determining, by the controller, a speed profile including an actual deceleration driving distance of the vehicle based on a waiting distance of a waiting vehicle that waits before the traffic light when it is determined that the reference deceleration driving distance is less than or equal to the distance between the vehicle and the traffic light.

The invention is notably directed to a computer-implemented method for controlling a speed of a vehicle given energy-related quantities that pertain to moving the vehicle. Each of said energy-related quantities is being referred to as an energy expense in the following. The method involves two key operations (a full-horizon optimization and multiple, nested short-horizon optimizations), which are performed based on route parameters of a route segment and real-time signals capturing current states of the vehicle. First, a target function of a profile of an energy expense is optimized (S12) for a route segment, to determine a reference profile X.sub.ref of this energy expense. The optimization is constrained with respect to objectives in respect of a total travel time and/or a total travel energy expense for the vehicle to travel said route segment. A profile of parameter values is obtained (S14-S28) according to a by-product of the optimization. Next, short-horizon speed profiles V.sub.ref of the vehicle are repeatedly determined (S32) to plan speeds V.sub.ref of the vehicle along local sections of the route segment. Such predictions are achieved by minimizing, for each of the local sections, a cost function as parameterized by one of the parameter values. The cost function captures a cost of deviating from an output of the optimized target function due to such speed profiles; said output and said one of the parameter values pertain, each, to said each of the local sections. Finally, control signals are obtained based on the planned speeds V.sub.ref. Such control signals can be used for controlling (S40) a speed of the vehicle along each of said local sections of the route segment. The invention is further directed to related systems, vehicles, and computer program products.

Methods and systems of determining and controlling a vehicle travel speed on a roadway determine a grade of the roadway at defined intervals along the roadway; calculate a maximum straight line vehicle speed for each defined interval based on the determined grade and vehicle performance data; determine a radius of curvature and a superelevation of the roadway for each defined interval; determine a lateral friction coefficient for a vehicle/roadway system; calculate a maximum cornering vehicle speed for each defined interval based on the curvature, superelevation, and lateral friction coefficient; calculate the travel speed for each defined interval based on the maximum straight line vehicle speed and the maximum cornering vehicle speed; and control the speed of the vehicle so that it does not exceed the calculated travel speed for each defined interval.

A device, method, and processor readable storage medium for controlling travel of a vehicle. The device includes a processor and a controller; the processor is configured to set a speed curve of the vehicle according to a relative speed and distance between the vehicle and the front subject, and the controller is configured to control the vehicle to travel according to the set speed curve.

A method is intended to regulate the speed of an at least partially self-driving vehicle, knowing the radius of curvature of a future position it is preparing to take on a course along which it is travelling. This method comprises a step (10-90) in which the speed is regulated as a function of a speed set point and, if a radius of curvature of the future position which is representative of a curve is detected, a phase of deceleration down to a chosen speed followed by a phase of acceleration until the speed setpoint is obtained are imposed on the vehicle. In this step (10-90), when the driver imposes acceleration on his vehicle during the deceleration phase, this deceleration phase is halted and then another phase of acceleration until the speed set point is obtained is imposed on the vehicle.

Aspects of the disclosure relate to generating a speed plan for an autonomous vehicle. As an example, the vehicle is maneuvered in an autonomous driving mode along a route using pre-stored map information. This information identifies a plurality of keep clear regions where the vehicle should not stop but can drive through in the autonomous driving mode. Each keep clear region of the plurality of keep clear regions is associated with a priority value. A subset of the plurality of keep clear regions is identified based on the route. A speed plan for stopping the vehicle is generated based on the priority values associated with the keep clear regions of the subset. The speed plan identifies a location for stopping the vehicle. The speed plan is used to stop the vehicle in the location.