Systems and methods for controlling quality in planning a trajectory of an autonomous vehicle

A method for controlling quality in planning a trajectory of an autonomous vehicle, the method comprising:

• processing sensor data received from one or more sensors of an autonomous vehicle;
• generating a trajectory of the autonomous vehicle based on the sensor data and a plurality of rules, wherein at least one of the plurality of rules corresponds to at least one of a plurality of costs, wherein generating the trajectory further comprises:
• analyzing a plurality of nodes in a graph search of the trajectory based on the plurality of rules;
• and
• generating the trajectory by minimizing a total cost associated with traversing along the trajectory;
• generating a log of violations of the plurality of rules at one or more nodes along the trajectory, wherein the log includes explanations of the violations in a human readable language;
• and
• transmitting the log over a wireless communication channel to a remote computing device.

One or more non-transitory machine-readable storage media for controlling quality in planning a trajectory of an autonomous vehicle, comprising a plurality of instructions stored thereon that, in response to being executed, cause a system to:

• process sensor data received from one or more sensors of an autonomous vehicle;
• generate a trajectory of the autonomous vehicle based on the sensor data and a plurality of rules, wherein at least one of the plurality of rules corresponds to at least one of a plurality of costs, wherein generating the trajectory further comprises:
• analyzing a plurality of nodes in a graph search of the trajectory based on the plurality of rules;
• and
• generating the trajectory by minimizing a total cost associated with traversing along the trajectory;
• generate a log of violations of the plurality of rules at one or more nodes along the trajectory, wherein the log includes explanations of the violations in a human readable language;
• and
• transmit the log over a wireless communication channel to a remote computing device.