Context-specific tolerance for motion control in autonomous vehicles

An autonomous vehicle, comprising:

• a computing system comprising one or more computing devices;
• a vehicle controller implemented by the computing system, the vehicle controller configured to:
• obtain a trajectory that describes a proposed motion path for the autonomous vehicle and a constraint set of one or more tolerance values defining a level of vehicle control precision;
• and
• generate a longitudinal actuator command and a lateral actuator command based at least in part on the constraint set of the one or more tolerance values;
• and
• one or more actuators configured to receive the longitudinal actuator command and the lateral actuator command and control motion of the autonomous vehicle to follow the trajectory in accordance with the level of vehicle control precision defined by the constraint set of the one or more tolerance values.

A computer-implemented method to control motion of an autonomous vehicle, the method comprising:

• obtaining, by a computing system comprising one or more computing devices, a trajectory that describes a proposed motion path for the autonomous vehicle;
• obtaining, by the computing system, a constraint set of one or more tolerance values defining a level of vehicle control precision;
• generating, by the computing system, one or more vehicle actuator commands based at least in part on the one or more tolerance values of the constraint set;
• and
• controlling motion of the autonomous vehicle in accordance with the one or more vehicle actuator commands such that the autonomous vehicle follows the trajectory within the one or more tolerance values identified by the constraint set.