RECOVERY FROM STOPPING TRAJECTORY WHILE IN MOTION
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United States of America
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Issued Date -
Feb 6, 2025
app pub date -
Jul 31, 2023
filing date -
Jul 31, 2023
priority date (Note) -
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Abstract
Techniques are described herein for safely transitioning a vehicle from a first trajectory to a second trajectory. In response to a safety event, for example, a vehicle may switch from being controlled in accordance with a nominal planner output (a planned trajectory) to a safety, or stopping, trajectory. In some examples, in response to the vehicle overcoming the safety event, a safe and smooth return to a nominal planning system output trajectory (an updated planned trajectory) may be determined and used to cause the vehicle to continue along to a previously determined destination.
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