Control architectures for autonomous vehicles

A method comprising:

• receiving, using a control circuit, a reference trajectory, a set of lateral constraints, and a set of speed constraints;
• determining, using the control circuit, a curvature of the reference trajectory;
• determining, using the control circuit, a set of steering commands and a set of speed commands based on the curvature of the reference trajectory, the set of lateral constraints, and the set of speed constraints;
• and
• in response to determining that the determined set of steering commands and the set of speed commands satisfy a safety factor, navigating, using the control circuit, the vehicle according to the set of steering commands and the set of speed commands.

A non-transitory computer-readable storage medium storing instructions which, when executed by one or more computer processors, cause performance of operations comprising:

• receiving, using a control circuit, a reference trajectory, a set of lateral constraints, and a set of speed constraints;
• determining, using the control circuit, a curvature of the reference trajectory;
• determining, using the control circuit, a set of steering commands and a set of speed commands based on the curvature of the reference trajectory, the set of lateral constraints, and the set of speed constraints;
• and
• in response to determining that the determined set of steering commands and the set of speed commands satisfy a safety factor, navigating, using the control circuit, the vehicle according to the set of steering commands and the set of speed commands.