Systems and Methods of Controlling an Autonomous Vehicle Using an Enhanced Trajectory Following Configuration
First Claim
1. A computer-implemented method for controlling an autonomous vehicle, the method comprising:
- obtaining, by a computing system comprising one or more computing devices, data representing a first trajectory of an autonomous vehicle that indicates a motion path between an initial state of the autonomous vehicle and a final state of the autonomous vehicle, the first trajectory including one or more intermediate states corresponding to the motion path;
determining, by the computing system, a second trajectory based at least in part on the first trajectory, the second trajectory including a first state corresponding to the motion path, and one or more secondary states corresponding to the motion path, the one or more secondary states indicating a state of the autonomous vehicle relative to the first state;
determining, by the computing system, one or more control signals based at least in part on the second trajectory, wherein the control signals cause the autonomous vehicle to execute at least part of the motion path; and
controlling a motion of the autonomous vehicle according to the motion path, based at least in part on the one or more control signals.
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Abstract
Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining data representing a first trajectory including one or more states corresponding to a motion path. The method includes determining a second trajectory based at least in part on the first trajectory, the second trajectory including a first state corresponding to the motion path, and one or more secondary states corresponding to the motion path, the one or more secondary states indicating a state of the autonomous vehicle relative to the first state. The method includes determining one or more control signals based at least in part on the second trajectory. The method includes controlling a motion of the autonomous vehicle according to the motion path, based at least in part on the one or more control signals.
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Citations
20 Claims
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1. A computer-implemented method for controlling an autonomous vehicle, the method comprising:
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obtaining, by a computing system comprising one or more computing devices, data representing a first trajectory of an autonomous vehicle that indicates a motion path between an initial state of the autonomous vehicle and a final state of the autonomous vehicle, the first trajectory including one or more intermediate states corresponding to the motion path; determining, by the computing system, a second trajectory based at least in part on the first trajectory, the second trajectory including a first state corresponding to the motion path, and one or more secondary states corresponding to the motion path, the one or more secondary states indicating a state of the autonomous vehicle relative to the first state; determining, by the computing system, one or more control signals based at least in part on the second trajectory, wherein the control signals cause the autonomous vehicle to execute at least part of the motion path; and controlling a motion of the autonomous vehicle according to the motion path, based at least in part on the one or more control signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A computing system for controlling an autonomous vehicle, the system comprising:
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one or more processors; and one or more tangible, non-transitory, computer readable media that collectively store instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising; determining a first trajectory of an autonomous vehicle indicating a motion path between an initial state and final state of the autonomous vehicle, the first trajectory including one or more intermediate states corresponding to the motion path; determining a second trajectory based at least in part on the first trajectory, the second trajectory including a first state corresponding to the motion path, and one or more secondary states corresponding to the motion path, the one or more secondary states indicating a state of the autonomous vehicle relative to the first state; determining one or more control signals based at least in part on the second trajectory, wherein the control signals cause the autonomous vehicle to execute at least part of the motion path; and controlling a motion of the autonomous vehicle according to the motion path, based at least in part on the one or more control signals. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A computer-implemented method for controlling an autonomous vehicle, the method comprising:
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obtaining, by a computing system comprising one or more computing devices, data representing one or more vehicle commands to be cached; monitoring, by the computing system, a diagnostics channel of the autonomous vehicle, and detecting one or more faults associated with the autonomous vehicle; identifying, by the computing system, one or more cached vehicle commands that correspond to the one or more detected faults; controlling, by the computing system, a motion of the autonomous vehicle, based at least in part on the identified cached vehicle commands.
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18. A computing system for controlling an autonomous vehicle, the system comprising:
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one or more processors; and one or more tangible, non-transitory, computer readable media that collectively store instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising; receiving one or more control signals to control a motion of the autonomous vehicle according to at least part of a motion path of the autonomous vehicle; analyzing the one or more control signals to determine a data structure corresponding to the one or more control signals; controlling the motion of the autonomous vehicle based at least in part on the data structure corresponding to the one or more control signals. - View Dependent Claims (19, 20)
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Specification