Behavior planning for autonomous vehicles

A system comprising:

• one or more processors to perform operations including:
• selecting, for a machine, a planned route that includes a sequence of waypoints to a destination based at least on a location of the machine and a metric quantifying traversal of the planned route;
• based at least on the selecting, propagating, from a node that corresponds to a proxy destination in a graph of potential future locations for the machine, a location score that quantifies the traversal of the planned route in a direction toward the proxy destination, the propagating being through nodes of the graph and computing respective remaining costs for the machine to reach the proxy destination along the planned route in the direction;
• searching the graph for a nominal path to reach the proxy destination along the planned route in the direction using the respective remaining costs to evaluate paths through the nodes;
• generating one or more trajectories that correspond to the nominal path;
• and
• performing one or more control operations associated with the machine based at least on the one or more trajectories.

At least one processor comprising:

• processing circuitry to perform one or more control operations associated with a machine based at least on one or more trajectories, the one or more trajectories being generated using a nominal path, the nominal path being determined based at least on:
• selecting, for the machine, a planned route that includes a sequence of waypoints to a destination based at least on a location of the machine and a metric quantifying traversal of the planned route;
• based at least on the selecting, propagating, from a node that corresponds to a proxy destination in a graph of potential future locations for the machine, a location score that quantifies the traversal of the planned route in a direction toward the proxy destination, the propagating being through nodes of the graph and computing respective remaining costs for the machine to reach the proxy destination along the planned route in the direction;
• and
• searching the graph for the nominal path to reach the proxy destination along the planned route in the direction using the respective remaining costs to evaluate paths through the nodes.