CPC G05D 1/0055 (2013.01) [B60W 30/00 (2013.01); G05D 1/0077 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0231 (2013.01); G05D 1/0268 (2013.01); G05D 2201/0213 (2013.01)] | 20 Claims |
1. A method comprising:
receiving sensor data associated with a vehicle;
determining, based at least in part on a first portion of the sensor data, a first pose of the vehicle;
determining, based at least in part on a second portion of the sensor data, a second pose of the vehicle, the second portion differing from the first portion;
determining a difference between the first pose and the second pose;
determining, based at least in part on the difference, a trajectory for the vehicle; and
controlling the vehicle to navigate in an environment according to the trajectory, wherein the trajectory is generated based on the second pose when determining that the difference meets or exceeds a threshold, or the trajectory is generated based on the first pose when determining that the difference does not meet the threshold.
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