Adaptive autonomous vehicle planner logic
First Claim
1. A method comprising:
- receiving path data with which to guide motion of an autonomous vehicle from a first geographic location to a second geographic location;
receiving perception data from a perception engine, the perception data comprising static map data, current object state data, and predicted object state data;
receiving, from a localizer, local pose data of the autonomous vehicle;
substantially simultaneously generating at least a plurality of trajectories and a plurality of contingent trajectories based, at least in part, on the path data, the local pose data, the static map data, the current object state data, and the predicted object state data;
selecting a trajectory from the plurality of trajectories to use to control one or more vehicle components;
selecting a contingent trajectory from the plurality of contingent trajectories to use to control the one or more vehicle components;
controlling the one or more vehicle components of the autonomous vehicle according to the trajectory to direct motion of the autonomous vehicle along the trajectory;
monitoring generation of the trajectory;
detecting cessation of the generation of the trajectory; and
responsive to detecting the cessation of the generation of the trajectory, controlling the one or more vehicle components according to the contingent trajectory.
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Accused Products
Abstract
Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. More specifically, systems, devices, and methods are configured to generate trajectories to influence navigation of autonomous vehicles. In particular, a method may include receiving path data to navigate from a first geographic location to a second geographic location, generating data representing a trajectory with which to control motion of the autonomous vehicle based on the path data, generating data representing a contingent trajectory, monitoring generation of the trajectory, and implementing the contingent trajectory subsequent to an absence of the trajectory.
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Citations
21 Claims
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1. A method comprising:
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receiving path data with which to guide motion of an autonomous vehicle from a first geographic location to a second geographic location; receiving perception data from a perception engine, the perception data comprising static map data, current object state data, and predicted object state data; receiving, from a localizer, local pose data of the autonomous vehicle; substantially simultaneously generating at least a plurality of trajectories and a plurality of contingent trajectories based, at least in part, on the path data, the local pose data, the static map data, the current object state data, and the predicted object state data; selecting a trajectory from the plurality of trajectories to use to control one or more vehicle components; selecting a contingent trajectory from the plurality of contingent trajectories to use to control the one or more vehicle components; controlling the one or more vehicle components of the autonomous vehicle according to the trajectory to direct motion of the autonomous vehicle along the trajectory; monitoring generation of the trajectory; detecting cessation of the generation of the trajectory; and responsive to detecting the cessation of the generation of the trajectory, controlling the one or more vehicle components according to the contingent trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system comprising:
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one or more vehicle components of an autonomous vehicle for controlling motion of the autonomous vehicle; one or more processors communicatively coupled to the one or more vehicle components; a localizer; a perception engine; a trajectory tracker; and a memory storing instructions executable by the one or more processors and that, when executed by the one or more processors, configure the system to perform operations including; receiving path data with which to guide motion of the autonomous vehicle from a first geographic location to a second geographic location; receiving local pose data from the localizer; receiving an object, a current object track, and a predicted object track from the perception engine; substantially simultaneously generating at least a plurality of candidate trajectories and a plurality of candidate contingent trajectories based, at least in part, on the path data, the local pose data, the object, the current object track, and the predicted object track, the plurality of candidate trajectories and the plurality of candidate contingent trajectories being generated as the autonomous vehicle traverses a path; selecting, by the trajectory tracker, a trajectory from the plurality of candidate trajectories; selecting, by the trajectory tracker, a contingent trajectory from the plurality of candidate contingent trajectories; controlling, by the trajectory tracker, the one or more vehicle components to direct motion of the autonomous vehicle according to the trajectory; monitoring, by the trajectory tracker, generation of the trajectory; detecting, by the trajectory tracker, an impairment in the generation of the trajectory; and responsive to detecting the impairment of the generation of the trajectory, controlling, by the trajectory tracker, the one or more vehicle components to direct motion of the autonomous vehicle according to the contingent trajectory. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. One or more non-transitory computer-readable media storing processor-executable instructions that, when executed, cause one or more processors to perform operations, the operations comprising:
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determining, at a global planner, path data, the path data comprising information with which to guide motion of an autonomous vehicle from a first geographic location to a second geographic location; substantially simultaneously generating at least a plurality of candidate trajectories and a plurality of candidate contingent trajectories based, at least in part, on the path data; determining confidence levels associated with the plurality of candidate trajectories and the plurality of candidate contingent trajectories based, at least in part, on one or more of map data, current object state data, or predicted object state data; selecting a trajectory from the plurality of candidate trajectories, based, at least in part, on a confidence level associated with the trajectory; selecting a contingent trajectory from the plurality of candidate contingent trajectories, based, at least in part, on a confidence level associated with the contingent trajectory; directing motion of the autonomous vehicle according to the trajectory; monitoring generation of the trajectory; detecting an impairment of the generation of the trajectory; and responsive to detecting the impairment of the generation of the trajectory, directing motion of the autonomous vehicle according to the contingent trajectory. - View Dependent Claims (20, 21)
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Specification