Trajectory control system for a vehicle

Abstract

A system includes data processing hardware and memory hardware in communication with the data processing hardware. The memory hardware stores instructions that, when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include monitoring, via a trajectory control architecture of a controller, at least one active safety feature and a trajectory of a vehicle, tracking, via the trajectory control architecture, an error of the trajectory, and comparing the tracked error with a trajectory history stored on the controller. The operations also include adapting, based on the comparison of the tracked error and the trajectory history, performance elements of the vehicle via the trajectory control architecture and monitoring, based on the adapted performance elements, the trajectory of the vehicle.