Using arrival times and safety procedures in motion planning trajectories for autonomous vehicles

At least one processor comprising:

• one or more processing units to:
• for each time step of at least two time steps along a trajectory for a machine:
• model one or more future claimed sets of positions corresponding to a safety procedure trajectory of the machine executing one or more safety procedures triggered and initiated from a future position corresponding to the time step on a trajectory for the machine and extending to the one or more future claimed sets of positions, and
• compare the one or more future claimed sets with one or more future locations that correspond to motion of one or more objects to perform an evaluation of whether the safety procedure trajectory indicates a future collision with the one or more objects were the safety procedure trajectory to be initiated from the trajectory at the future position on the trajectory,
• compute a ranking score of the trajectory based at least on aggregating the evaluation for each of the at least two time steps, wherein the aggregating is based at least on the evaluation for at least a first time step of the at least two time steps indicating a conflict between the safety procedure trajectory of the first time step and at least one objective of at least one safety procedure of the one or more safety procedures,
• based at least on the ranking score, initiate the trajectory or another trajectory for the machine, and
• perform, based at least on the trajectory or the another trajectory, one or more autonomous control operations corresponding to the machine.

A system comprising:

• one or more processors to perform a method comprising:
• for each time step of one or more time steps along a trajectory for a machine:
• modeling a future location of the machine corresponding to a safety procedure trajectory of the machine executing one or more safety procedures triggered and initiated from a future position corresponding to the time step on the trajectory for the machine and extending to the future location;
• and
• performing, based on the modeling, an evaluation of whether the safety procedure trajectory indicates a future collision with one or more objects were the safety procedure trajectory to be initiated from the trajectory at the future position on the trajectory;
• computing a ranking score of the trajectory based at least on aggregating the evaluation for each of the one or more time steps, wherein the evaluation for at least a first time step of the one or more time steps indicates a conflict between the safety procedure trajectory of the first time step and at least one objective of at least one safety procedure of the one or more safety procedures;
• based at least on the ranking score, initiating the trajectory or another trajectory for the machine;
• and
• performing one or more autonomous control operations based at least on the initiating.