公开(公告)号：US20240017738A1

公开(公告)日：2024-01-18

申请号：US17862658

申请日：2022-07-12

Applicant: Waymo LLC

Inventor： Steven Vozar ,  Ioan-Alexandru Sucan ,  Jory Denny ,  Jens-Steffen Ralf Gutmann ,  Ryan Luna ,  Jonathan Daudelin ,  Tian Jin

IPC: B60W60/00 ,  G01C21/34

CPC classification number: B60W60/001 ,  G01C21/3453 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/06

Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For example, a set of potential stopping locations may be identified based on a current location of an autonomous vehicle. A set of potential states may be identified for the autonomous vehicle. A fallback cost for each potential state of the set of potential states to reach each potential stopping location of the set of potential stopping locations may be determined. A trajectory for an autonomous vehicle may be planned based on a route to a destination and the determined fallback costs. The autonomous vehicle may be controlled according to at least a portion of the trajectory.