| CPC G05D 1/0214 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0223 (2013.01); G06V 20/58 (2022.01); G05D 2201/0213 (2013.01)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving first sensor data of an environment at a first time;
determining, at a second time and based at least in part on the first sensor data, a first location of an object in the environment;
determining, as a first latency, a difference between the first time and the second time, and averaging the first latency with one or more previously determined latencies, to obtain an average latency;
receiving second sensor data;
determining, based at least in part on the second sensor data, a predicted location of the object;
determining, based at least in part on a predetermined acceleration associated with the object and the average latency, a safety distance;
generating a trajectory for an autonomous vehicle based at least in part on the safety distance, wherein the first latency is determined based at least in part on a first predicted latency to generate the trajectory or a second predicted latency to control the autonomous vehicle to execute the trajectory; and
controlling the autonomous vehicle based at least in part on the trajectory and the predicted location of the object.
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