Systems and methods for implementing a preemptive control for an autonomous vehicle to improve ride quality

Abstract

Systems, methods, and non-transitory computer-readable media are provided for implementing a preemptive control for an autonomous vehicle to improve ride quality. Data from one or more sensors onboard the autonomous vehicle can be acquired. A surface imperfection of a road can be identified from the data. A next action for the autonomous vehicle can be determined based on the surface imperfection. A signal can be outputted that causes the autonomous vehicle to act in accordance with the next action.

1 . A computer-implemented method for preemptive control of a vehicle to improve ride quality comprising:
 determining, by a computing system onboard the vehicle, based on a high definition map, an imperfection on a road ahead of the vehicle;   detecting, by the computing system, based on data collected by at least one sensor onboard the vehicle, the imperfection on the road ahead;   determining, by the computing system, a next action of the vehicle based on the imperfection; and   synchronizing a timing of the next action to a predicted arrival time at the imperfection.   
     
     
         2 . The computer-implemented method of  claim 1 , wherein the synchronizing a timing of the next action to a predicted arrival time comprises synchronizing a timing of the next action to counteract a predicted consequence resulting when the vehicle is predicted to arrive at the imperfection. 
     
     
         3 . The computer-implemented method of  claim 1 , wherein determining the next action of the vehicle based on the imperfection comprises:
 determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;   determining that the vehicle is on the lane on which the imperfection is located;   determining, based on the high definition map and the data collected by the at least one sensor, a size of the imperfection; and   changing a speed of the vehicle in response to the size of the imperfection.   
     
     
         4 . The computer-implemented method of  claim 3 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:
 determining that the size of the imperfection is below a threshold size; and   accelerating the vehicle prior to reaching the imperfection.   
     
     
         5 . The computer-implemented method of  claim 3 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:
 determining that the size of the imperfection exceeds a threshold size; and   decelerating the vehicle prior to reaching the imperfection.   
     
     
         6 . The computer-implemented method of  claim 1 , wherein determining the next action of the vehicle based on the imperfection comprises:
 determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;   determining that the vehicle is on the lane on which the imperfection is located;   acquiring, through the data collected by the at least one sensor, a traffic density of a neighboring lane next to the lane the vehicle is on;   determining, based on the traffic density, a safety of the vehicle changing to the neighboring lane; and   directing the vehicle to change lanes from the lane to the neighboring lane prior to reaching the imperfection, based on the determined safety.   
     
     
         7 . The computer-implemented method of  claim 6 , wherein determining a safety of the vehicle changing to the neighboring lane comprises:
 determining, based on the at least one sensor, the neighboring lane is free of moving vehicles within a predetermined distance of the vehicle; and   in response to determining that the neighboring lane is free of moving vehicles within a predetermined distance, determining that the safety satisfies a safety condition.   
     
     
         8 . The computer-implemented method of  claim 1 , wherein determining the next action of the vehicle based on the imperfection comprises:
 determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;   determining that the vehicle is on the lane on which the imperfection is located;   acquiring, through the data collected by the at least one sensor, a traffic density of a neighboring lane next to the lane the vehicle is on;   determining, based on the traffic density, a safety of the vehicle changing to the neighboring lane;   determining, based on the high definition map and the data collected by the at least one sensor, a size of the imperfection; and   changing a speed of the vehicle based on the size of the imperfection.   
     
     
         9 . The computer-implemented method of  claim 1 , further comprising:
 determining, based on the high definition map and the data collected by the least one sensor, an inclination or declination of the road ahead;   changing a speed of the vehicle in anticipation of the inclination or declination.   
     
     
         10 . The computer-implemented method of  claim 1 , wherein the at least one sensor onboard the vehicle includes at least one of LiDAR, radar, or camera. 
     
     
         11 . A computing system for preemptive control of a vehicle to improve ride quality comprising:
 one or more processors; and   a memory storing instructions that, when executed by the one or more processor, causes the computer system to perform a method comprising:
 determining, based on a high definition map, an imperfection on a road ahead of the vehicle; 
 detecting, through data collected by at least one sensor onboard the vehicle, the imperfection on the road ahead; 
 determining a next action of the vehicle based on the imperfection; and 
 synchronizing a timing of the next action to a predicted arrival time at the imperfection. 
   
     
     
         12 . The computing system of  claim 11 , wherein determining the next action of the vehicle based on the imperfection comprises:
 determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;   determining that the vehicle is on the lane on which the imperfection is located;   determining, based on the high definition map and the data collected by the at least one sensor, a size of the imperfection; and   changing a speed of the vehicle in response to the size of the imperfection.   
     
     
         13 . The computing system of  claim 12 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:
 determining that the size of the imperfection is below a threshold size; and   accelerating the vehicle prior to reaching the imperfection.   
     
     
         14 . The computing system of  claim 12 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:
 determining that the size of the imperfection exceeds a threshold size; and   decelerating the vehicle prior to reaching the imperfection.   
     
     
         15 . The computing system of  claim 11 , wherein determining the next action of the vehicle based on the imperfection comprises:
 determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;   determining that the vehicle is on the lane on which the imperfection is located;   acquiring, through the data collected by the at least one sensor, a traffic density of a neighboring lane next to the lane the vehicle is on;   determining, based on the traffic density, a safety of the vehicle changing to the neighboring lane; and   directing the vehicle to change lanes from the lane to the neighboring lane prior to reaching to the imperfection, based on the determined safety.   
     
     
         16 . A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause a computer system for preemptive control of an vehicle to perform a method comprising:
 determining, based on a high definition map, an imperfection on a road ahead of the vehicle;   detecting, through data collected by at least one sensor onboard the vehicle, the imperfection on the road ahead;   determining a next action of the vehicle based on the imperfection; and   synchronizing a timing of the next action to a predicted arrival time at the imperfection.   
     
     
         17 . The non-transitory computer-readable medium of  claim 16 , wherein determining the next action of the vehicle based on the imperfection comprises:
 determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;   determining that the vehicle is on the lane on which the imperfection is located;   determining, based on the high definition map and the data collected by the at least one sensor, a size of the imperfection; and   changing a speed of the vehicle in response to the size of the imperfection.   
     
     
         18 . The non-transitory computer-readable medium of  claim 17 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:
 determining that the size of the imperfection is below a threshold size; and   accelerating the vehicle prior to reaching the imperfection.   
     
     
         19 . The non-transitory computer-readable medium of  claim 17 , wherein changing the speed of the vehicle in response to the size of the imperfection comprises:
 determining that the size of the imperfection is below a threshold size; and   accelerating the vehicle prior to reaching the imperfection.   
     
     
         20 . The non-transitory computer-readable medium of  claim 16 , wherein determining the next action of the vehicle based on the imperfection comprises:
 determining, based on the high definition map, a lane of the road ahead on which the imperfection is located;   determining that the vehicle is on the lane on which the imperfection is located;   acquiring, through the data collected by the at least one sensor, a traffic density of a lane adjacent to the lane the vehicle is on;   determining, based on the traffic density, a safety of the vehicle changing to the neighboring lane; and   directing the vehicle to change lanes from the lane to the neighboring lane prior to reaching to the imperfection, based on the determined safety.