Decision Making for Autonomous Vehicle Motion Control

A method, comprising:

• obtaining, at a first rate at a motion selector of a vehicle, one or more conditional action sequences generated with respect to the vehicle, wherein individual ones of the conditional action sequences correspond to a respective set of anticipated states of the vehicle;
• identifying one or more motion-control directives at the motion selector, based at least in part on (a) the one or more conditional action sequences and (b) a set of sensor data obtained at a second rate that exceeds the first rate;
• and
• transmitting, by the motion selector, the one or more motion-control directives to one or more motion control subsystems of the vehicle.

A system, comprising:

• a motion selector of a vehicle implemented at one or more computing devices;
• wherein the motion selector is configured to:
• obtain, at a first rate, one or more conditional action sequences generated with respect to the vehicle, wherein individual ones of the conditional action sequences correspond to a respective set of anticipated states of the vehicle;
• identify one or more motion-control directives, based at least in part on (a) the one or more conditional action sequences and (b) a set of sensor data obtained at a second rate that exceeds the first rate;
• and
• transmit the one or more motion-control directives to one or more motion control subsystems of the vehicle.

One or more non-transitory computer-accessible storage media storing program instructions that when executed on or across one or more processors implements a motion selector of a vehicle, wherein the motion selector is configured to:

• obtain, at a first rate, one or more conditional action sequences generated with respect to the vehicle, wherein individual ones of the conditional action sequences correspond to a respective set of anticipated states of the vehicle;
• identify one or more motion-control directives, based at least in part on (a) the one or more conditional action sequences and (b) a set of sensor data obtained at a second rate that exceeds the first rate;
• and
• transmit the one or more motion-control directives to one or more motion control subsystems of the vehicle.