No-block zone costs in space and time for autonomous vehicles

Abstract

Aspects of the disclosure provide for controlling an autonomous vehicle using no block costs in space and time. For instance, a trajectory for the autonomous vehicle to traverse in order to follow a route to a destination may be generated. A set of no-block zones through which the trajectory traverses may be identified. A no-block zone may be region where the autonomous vehicle should not stop but can drive through in an autonomous driving mode. For each given no-block zone of the set, a penetration cost that increases towards a center of the no-block zone and decreases towards edges of the no-block zone may be determined. Whether the autonomous vehicle should follow the trajectory may be determined based on the penetration cost. An autonomous vehicle may be controlled in the autonomous driving mode according to the trajectory based on the determination of whether the autonomous vehicle should follow the trajectory.

1 . A method comprising:
 generating, by one or more processors, a trajectory for an autonomous vehicle to traverse in order to follow a route to a destination;   identifying, by the one or more processors, an area through which the trajectory traverses;   determining, by the one or more processors, an amount of penetration of the autonomous vehicle into the area based on the trajectory; and   controlling, by the one or more processors, the autonomous vehicle in an autonomous driving mode according to the trajectory based on the amount.   
     
     
         2 . The method of  claim 1 , wherein the amount corresponds to how close the autonomous vehicle is to an edge of the area. 
     
     
         3 . The method of  claim 1 , wherein the area is identified from predefined in map information and corresponds to an area within which the autonomous vehicle should avoid stopping. 
     
     
         4 . The method of  claim 1 , wherein the area is defined as a line having a pair of endpoints. 
     
     
         5 . The method of  claim 1 , wherein the area is defined as a polygon having three or more edges. 
     
     
         6 . The method of  claim 1 , wherein the area is identified by the autonomous vehicle in real time. 
     
     
         7 . The method of  claim 1 , wherein the area includes a railroad crossing. 
     
     
         8 . The method of  claim 1 , wherein the area includes a crosswalk. 
     
     
         9 . The method of  claim 1 , wherein the area includes an intersection. 
     
     
         10 . The method of  claim 1 , wherein the area includes a lane of traffic. 
     
     
         11 . The method of  claim 1 , wherein the area includes a no stopping zone. 
     
     
         12 . A system comprising one or more processors configured to:
 generate a trajectory for an autonomous vehicle to traverse in order to follow a route to a destination;   identify an area through which the trajectory traverses;   determine an amount of penetration of the autonomous vehicle into the area based on the trajectory; and   control the autonomous vehicle in an autonomous driving mode according to the trajectory based on the amount.   
     
     
         13 . The system of  claim 12 , wherein the amount corresponds to how close the autonomous vehicle is to an edge of the area. 
     
     
         14 . The system of  claim 12 , wherein the one or more processors are further configured to identify the area from predefined in map information and the area corresponds to an area within which the autonomous vehicle should avoid stopping. 
     
     
         15 . The system of  claim 12 , wherein the area includes a railroad crossing. 
     
     
         16 . The system of  claim 12 , wherein the area includes a crosswalk. 
     
     
         17 . The system of  claim 12 , wherein the area includes an intersection. 
     
     
         18 . The system of  claim 12 , wherein the area includes a lane of traffic. 
     
     
         19 . The system of  claim 12 , wherein the area includes a no stopping zone. 
     
     
         20 . The system of  claim 12 , further comprising the autonomous vehicle.