CPC B60W 60/0011 (2020.02) [B60W 50/00 (2013.01); B60W 2050/006 (2013.01); B60W 2050/0026 (2013.01); B60W 2510/20 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01)] | 20 Claims |
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
determining a vehicle state associated with a vehicle in a driving environment, the vehicle state comprising a speed associated with the vehicle;
determining a driving condition associated with the driving environment;
receiving, based at least in part on the vehicle state and the driving condition, a steering limit table;
determining a steering limit function based on the steering limit table;
determining steering data associated with the vehicle;
determining, based at least in part on the steering data and the steering limit function, a cost value;
determining, based at least in part on the cost value, a trajectory; and
controlling the vehicle in the driving environment based at least in part on the trajectory.
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