CPC G05D 1/0077 (2013.01) [B60W 50/023 (2013.01); B60W 50/029 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); B60W 2050/0292 (2013.01); G05D 2201/0213 (2013.01)] | 20 Claims |
16. A control system for controlling a vehicle in an autonomous driving mode using trajectories, the control system comprising:
one or more first computing devices of the vehicle configured to:
generate a first trajectory;
generate an error message identifying a recoverable error; and
generate a second trajectory within a predetermined period of time after the error message is generated in order to avoid having the vehicle stop or pull over because the one or more first computing devices cannot timely provide a new trajectory while recovering from an error; and
a planner system of the vehicle, the planner system including one or more second computing devices configured to:
receive the first trajectory from the one or more first computing devices; and
control the vehicle in the autonomous driving mode to follow at least a portion of the first trajectory.
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