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. A method for repeatedly generating a fallback plan for an autonomous vehicle, the method comprising:
generating a set of fallback plans, comprising, at each of a set of multiple times during operation of the autonomous vehicle:
generating a fallback plan of the set of fallback plans, comprising:
based on a location of the autonomous vehicle, determining a set of safe state candidates for the autonomous vehicle;
evaluating each of the set of safe state candidates to determine an available subset of the set of safe state candidates;
selecting a safe state from the available subset; and
generating a polynomial path from the location to the selected safe state, wherein the fallback plan comprises the polynomial path;
operating the autonomous vehicle according to a primary plan, the primary plan separate and distinct from the fallback plan; and
checking for a trigger condition, wherein in an event that the trigger condition is satisfied, utilizing a most recently generated fallback plan.
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