DETERMINING SPEEDS FOR AN AUTONOMOUS VEHICLE

In one embodiment, a method is provided. The method includes determining a first reference line representing a path through an environment for an autonomous driving vehicle. The method also includes determining a speed constraint function based on a set of speed limits associated with the environment, a set of curvatures of the path, and a set of obstacles in the environment, wherein the speed constraint function comprises a continuous function. The method further includes determining a set of speeds for the path through the environment based on the speed constraint function. The method further includes controlling the autonomous driving vehicle based on the path and the set of speeds.