Planner system recovery for autonomous vehicles
AssigneeWaymo LLC
InventorIoan-Alexandru Sucan
Life of this patent
Estimating the term…
Abstract
Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode using trajectories. For instance, a trajectory may be received by one or more first computing devices from one or more second computing devices. While the first computing devices are controlling the vehicle in the autonomous driving mode based on the trajectory, an error may be generated by second computing devices. Whether the error is a recoverable error may be determined, and if so, the second computing devices attempt to generate a new trajectory. When the second computing devices generate the new trajectory, the vehicle may be controlled by the first computing devices according to the new trajectory.
Claims24
A vehicle comprising:
- one or more computing devices configured to:
- identify, during generation of a first trajectory, an error that prevents generation of the first trajectory, wherein the first trajectory controls the vehicle in an autonomous driving mode;
- in response to the identified error, attempt to generate a new trajectory within a predetermined period of time;
- and
- when the new trajectory is not generated within the predetermined period of time due to the identified error, control the vehicle according to a last received trajectory to execute a fallback maneuver to control the vehicle to at least one of stop or pull over, wherein the last received trajectory includes at least some portion that allows the vehicle to proceed towards a destination and a fallback portion to control the vehicle to the at least one of stop or pull over.
A control system comprising one or more computing devices configured to:
- identify, during generation of a first trajectory, an error that prevents generation of the first trajectory, wherein the first trajectory controls a vehicle in an autonomous driving mode;
- in response to the identified error, attempt to generate a new trajectory within a predetermined period of time;
- and
- when the new trajectory is not generated within the predetermined period of time due to the identified error, control the vehicle according to a last received trajectory to execute a fallback maneuver to control the vehicle to at least one of stop or pull over, wherein the last received trajectory includes at least some portion that allows the vehicle to proceed towards a destination and a fallback portion to control the vehicle to the at least one of stop or pull over.
A method comprising:
- identifying, by one or more computing devices, during generation of a first trajectory, an error that prevents generation of the first trajectory, wherein the first trajectory controls a vehicle in an autonomous driving mode;
- in response to the identified error, attempt, by the one or more computing devices, to generate a new trajectory within a predetermined period of time;
- and
- when the new trajectory is not generated within the predetermined period of time due to the identified error, controlling, by the one or more computing devices, the vehicle according to a last received trajectory to execute a fallback maneuver to control the vehicle to at least one of stop or pull over, wherein the last received trajectory includes at least some portion that allows the vehicle to proceed towards a destination and a fallback portion to control the vehicle to the at least one of stop or pull over.
Dependencies are inferred from the claim text.