Autonomous vehicle routing with local and general routes

An autonomous vehicle, comprising:

• at least one processor;
• and
• at least one non-transitory machine-readable medium comprising instructions thereon that, when executed by the at least one processor, cause the at least one processor to perform operations comprising:
• generating, by a navigator system of the autonomous vehicle, a first local route beginning at a vehicle location and extending to a first local route end point, the generating of the first local route comprising:
• selecting a plurality of connected routing graph elements from a routing graph, the selecting starting from a vehicle location routing graph element corresponding to the vehicle location;
• determining that an edge routing graph element of the plurality of connected routing graph elements fails to meet at least one termination parameter;
• responsive to determining that the edge routing graph element of the plurality of connected routing graph elements fails to meet the at least one termination parameter, selecting an additional routing graph element connected to the edge routing graph element of the plurality of connected routing graph elements;
• and
• determining that the additional routing graph element meets at least one termination parameter, the additional routing graph element corresponding to the first local route end point;
• generating, by the navigator system of the autonomous vehicle, a second local route beginning at the vehicle location and extending to a second local route end point;
• requesting, by the navigator system, general route cost data describing respective general route costs for a plurality of local routes, the plurality of local routes comprising the first local route and the second local route, a general route cost for the first local route describing a cost from the first local route end point to a trip destination and a general route cost for the second local route describing a cost from the second local route end point to the trip destination;
• selecting, by the navigator system, the first local route from the plurality of local routes based at least in part on the general route cost data;
• and
• controlling the autonomous vehicle along the first local route using a vehicle autonomy system of the autonomous vehicle.

A computing system, comprising:

• at least one processor;
• and
• at least one non-transitory machine-readable medium comprising instructions thereon that, when executed by the at least one processor, cause the at least one processor to perform operations comprising:
• generating a first local route beginning at a vehicle location of an autonomous vehicle and extending to a first local route end point, the generating of the first local route comprising:
• selecting a plurality of connected routing graph elements from a routing graph, the selecting starting from a vehicle location routing graph element corresponding to the vehicle location;
• determining that an edge routing graph element of the plurality of connected routing graph elements fails to meet at least one termination parameter;
• responsive to determining that the edge routing graph element of the plurality of connected routing graph elements fails to meet the at least one termination parameter, selecting an additional routing graph element connected to the edge routing graph element of the plurality of connected routing graph elements;
• and
• determining that the additional routing graph element meets at least one termination parameter, the additional routing graph element corresponding to the first local route end point;
• generating a second local route beginning at the vehicle location and extending to a second local route end point;
• requesting general route cost data describing respective general route costs for a plurality of local routes, the plurality of local routes comprising the first local route and a second local route, a general route cost for the first local route describing a cost from the first local route end point to a trip destination and a general route cost for the second local route describing a cost from a second local route end point to the trip destination;
• selecting the first local route from the plurality of local routes based at least in part on the general route cost data;
• and
• controlling the autonomous vehicle along the first local route using a vehicle autonomy system of the autonomous vehicle.