公开(公告)号：US20210046923A1

公开(公告)日：2021-02-18

申请号：US16539870

申请日：2019-08-13

Applicant: Zoox, Inc.

Inventor： Sy Kelly Olson ,  Collin MacGregor ,  Jefferson Bradfield Packer ,  Andreas Christian Reschka

IPC: B60W30/09 ,  G05D1/00 ,  G05D1/02

Abstract: The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.