| CPC G05D 1/0088 (2013.01) [B60W 20/50 (2013.01); B60W 50/0097 (2013.01); B60W 50/029 (2013.01); G05D 1/0214 (2013.01); B60W 2050/021 (2013.01); B60W 2050/0292 (2013.01); G05D 2201/0213 (2013.01)] | 21 Claims |
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1. An autonomous vehicle monitoring system, comprising:
one or more processors; and
memory that stores instructions which, when executed by the one or more processors, cause the system to:
receive, as a capability limit, one or more of a maximum velocity, a maximum longitudinal deceleration, a maximum longitudinal acceleration, a maximum lateral acceleration, or a maximum resultant acceleration;
receive inputs from a plurality of sensors of an autonomous vehicle, an input of the plurality of inputs associated with an operational state of a subsystem of the autonomous vehicle;
determine, based at least in part on the input, whether the subsystem is operating in a reduced operational state;
determine, based at least in part on determining the subsystem is operating in the reduced operational state and the capability limit, a reduced capability limit, associated with a behavior of the autonomous vehicle, the behavior associated with a second subsystem of the autonomous vehicle and the reduced capability limit being less than a nominal operating capability limit, wherein the subsystem is disparate from the second subsystem of the autonomous vehicle;
receive, from an additional system of the autonomous vehicle independent from the autonomous vehicle monitoring system, a potential trajectory for the autonomous vehicle; and
determine, based at least in part on the reduced capability limit, a validity signal indicating whether the autonomous vehicle meets or exceeds the reduced capability limit while following the potential trajectory.
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