CPC B60W 50/029 (2013.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 60/0011 (2020.02); B60W 60/0015 (2020.02); B60W 60/00274 (2020.02); G06V 20/58 (2022.01); B60W 2050/0292 (2013.01); B60W 2554/40 (2020.02); B60W 2554/80 (2020.02); B60W 2556/50 (2020.02)] | 20 Claims |
1. An autonomous fallback method for a vehicle, comprising:
receiving an environmental representation which identifies a set of dynamic agents;
based on the environmental representation, determining a set of navigational edge candidates;
classifying a navigational edge candidate of the set of navigational edge candidates as available based on an occupancy prediction corresponding to each dynamic agent of the set of dynamic agents, wherein each dynamic agent is assumed to be static within a planning horizon;
based on the classification of the navigational edge candidate as available, generating a fallback plan based on the navigational edge candidate;
storing the fallback plan at a memory coupled to an embedded controller; and
determining satisfaction of a trigger condition and, in response, autonomously controlling the vehicle based on the fallback plan with the embedded controller.
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