CPC G05D 1/0077 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0223 (2013.01)] | 20 Claims |
1. A control system for controlling a vehicle in an autonomous driving mode, the control system comprising:
a plurality of sensors configured to generate sensor data;
a primary computing system configured to:
generate different behavior predictions based on each of different types of road users in the sensor data,
generate trajectories using the sensor data, and
send the generated trajectories to a secondary computing system configured to cause the vehicle to follow a received trajectory; and
a backup computing system configured to, when there is a failure of the primary computing system, generate and send one or more trajectories to the secondary computing system to control the vehicle to maneuver to a stopping location.
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