Patent ID: 9707966
Date: 2017-07-18
CPC Classifications: B60W,B62D,G05D

Claim:
1. A method performed by a computing system configured to control an autonomous vehicle, the method comprising: receiving, by at least one processor of the computing system, and from one or more sensors in communication with the computing system, sensor data indicative of a region of a road of travel ahead of the autonomous vehicle; based on the sensor data, the at least one processor selecting the region to be a region in which to pull over and stop the autonomous vehicle; based on a speed of the autonomous vehicle and based on the region, determining, by the at least one processor, a braking profile for reducing the speed of the autonomous vehicle while travelling within the region; based on the braking profile, determining, by the at least one processor, a trajectory the autonomous vehicle navigates within the region while reducing the speed of the autonomous vehicle in accordance with the braking profile; the at least one processor periodically determining up-to-date instructions to cause the autonomous vehicle to pull over and stop during travel as an environment of the autonomous vehicle changes and storing the up-to-date instructions in a memory of the computing system accessible by the at least one processor; and based on the stored up-to-date instructions, the computing system causing the autonomous vehicle to pull over and stop in the region while navigating along the trajectory and reducing the speed of the autonomous vehicle in accordance with the braking profile.