Gm Cruise Holdings LLC

Rushil Goradia

Dogan Gidon

Martin Sehr

Andrew Robinson

Spyros Maniatopoulos

Shad Laws

Pradeep Bhatta

Nitin Kapania

Autonomous vehicles may have different specialized primary planners in the vehicle planning stack that each can generate a plan for the vehicle control stack. For instance, one primary planner may be used for the vehicle to drive forward, and another primary planner may be used for the vehicle to drive in reverse. Additionally, a fallback planner may be implemented to allow the autonomous vehicle to drive in a degraded state. A unified interface is provided between the planning stack and the control stack to manage communications between the different planners in the planning stack and the control stack.

Unified interface between a control system and planners of an autonomous vehicle

Systems and techniques are provided for adjusting the planned path of an autonomous vehicle to converge with the actual path. An example method can include determining a first pose error associated with a first pose component from one or more pose components, wherein the first pose error is based on a first difference between an actual pose of an autonomous vehicle and a planned pose of the autonomous vehicle; determining that the first pose error associated with the first pose component exceeds a pose error threshold corresponding to the first pose component; and generating a new planned pose of the autonomous vehicle that yields a reduced first pose error associated with the first pose component, wherein the reduced first pose error is based on a second difference between the actual pose of the autonomous vehicle and the new planned pose of the autonomous vehicle.

Modification of the planned path of an autonomous vehicle to converge to the actual position

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SAN FRANCISCO, CA, United States of America

Rushil Goradia