Aspects of the disclosure provide for controlling an autonomous vehicle (100). For example, a set of potential stopping locations may be identified based on a current location of an autonomous vehicle. A set of potential states may be identified for the autonomous vehicle. A fallback cost for each potential state of the set of potential states to reach each potential stopping location of the set of potential stopping locations may be determined. A trajectory for an autonomous vehicle may be planned based on a route to a destination and the determined fallback costs. The autonomous vehicle (100) may be controlled according to at least a portion of the trajectory.
PLANNING TRAJECTORIES FOR CONTROLLING AUTONOMOUS VEHICLES
PLANUNG VON TRAJEKTORIEN ZUR STEUERUNG AUTONOMER FAHRZEUGE
TRAJECTOIRES DE PLANIFICATION POUR COMMANDER DES VÉHICULES AUTONOMES
2024-01-17
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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