Ford Global Technolgoies, LLC

Andreas Joachim Knoblach

Scott Julian Varnhagen

Daniel Althoff

Disclosed herein are systems, methods, and computer program products for vehicle path planning. The methods comprise: estimating a current state of a vehicle based on sensor data; generating a control error representing a difference between the estimated current state of the vehicle and a desired state of the vehicle as described by a previously published trajectory; comparing the control error to a threshold value; generating a first plan for the vehicle using an open-loop path planning approach when the control error is below the threshold value or a second plan for the vehicle using a closed-loop path planning approach when the control error is above the threshold value; and causing the vehicle to execute the first or second plan.

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Munich, Germany

Andreas Joachim Knoblach