Controlling error corrected planning methods for operating autonomous vehicles

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of operating an autonomous vehicle, the operations including

• receiving motion planning and control data indicating that an autonomous vehicle is to move from a first point to a second point of a path, the motion planning and control data describing a plurality of routes from the first point to the second point within the path;
• for each of the routes,
• performing a simulation of the route in view of physical characteristics of the autonomous vehicle to generate a simulated route, and
• computing a controlling error representing a discrepancy between the route and the simulated route;
• selecting one of the routes based on controlling errors between the routes and associated simulated routes;
• and
• operating the autonomous vehicle moving from the first point to the second point according to the selected route.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor for storing instructions, which when executed by the processor, cause the processor to perform operations of operating an autonomous vehicle, the operations including
• receiving motion planning and control data indicating that an autonomous vehicle is to move from a first point to a second point of a path, the motion planning and control data describing a plurality of routes from the first point to the second point within the path,
• for each of the routes,
• performing a simulation of the route in view of physical characteristics of the autonomous vehicle to generate a simulated route, and
• computing a controlling error representing a discrepancy between the route and the simulated route,
• selecting one of the routes based on controlling errors between the routes and associated simulated routes, and
• operating the autonomous vehicle moving from the first point to the second point according to the selected route.