US 12,280,797 B2
Validation of trajectory planning for autonomous vehicles
Oskar Sandberg, Sunnyvale, CA (US); Daniel Sparks, San Francisco, CA (US); Shahab Kaynama, Mountain View, CA (US); and Jonathan Mulligan, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 13, 2022, as Appl. No. 17/863,758.
Prior Publication US 2024/0017741 A1, Jan. 18, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/14 (2006.01); B60W 40/06 (2012.01); G01C 21/34 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 30/146 (2013.01); B60W 40/06 (2013.01); G01C 21/34 (2013.01); B60W 2554/80 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A method for controlling an autonomous vehicle, the method comprising:
receiving, by one or more processors, a first trajectory generated by a first planning system;
inputting, by the one or more processors, a portion of the first trajectory into a second planning system, wherein the second planning system is used to ensure safety of the first planning system;
receiving, by the one or more processors, a second trajectory generated by the second planning system based on the portion of the first trajectory;
using, by the one or more processors, the second trajectory to determine whether to validate the first trajectory; and
when the first trajectory is determined to be validated, enabling the autonomous vehicle to be controlled based on the first trajectory.