Route-relative trajectory generation and optimization computations incorporating vehicle sideslip

A method comprising:

• determining, for a vehicle, a vehicle state including a vehicle position and a vehicle orientation;
• receiving a reference path for the vehicle to follow, the reference path including a first reference position associated with a first reference orientation;
• determining, based at least in part on the vehicle state, a sideslip angle;
• determining a vehicle trajectory based at least in part on the reference path, the vehicle state, and the sideslip angle, wherein determining the vehicle trajectory includes determining a predicted vehicle state including a predicted vehicle position and predicted vehicle orientation;
• and
• controlling the vehicle to traverse the environment based at least in part on the vehicle trajectory.

One or more non-transitory computer-readable media storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• determining, for a vehicle, a vehicle state including a vehicle position and a vehicle orientation;
• receiving a reference path for the vehicle to follow, the reference path including a first reference position associated with a first reference orientation;
• determining, based at least in part on the vehicle state, a sideslip angle;
• determining a vehicle trajectory based at least in part on the reference path, the vehicle state, and the sideslip angle, wherein determining the vehicle trajectory includes determining a predicted vehicle state including a predicted vehicle position and predicted vehicle orientation;
• and
• controlling the vehicle to traverse the environment based at least in part on the vehicle trajectory.