Abstract: Systems and techniques for determining a sideslip vector for a vehicle that may have a direction that is different from that of a heading vector for the vehicle. The sideslip vector in a current vehicle state and sideslip vectors in predicted vehicles states may be used to determine paths for a vehicle through an environment and trajectories for controlling the vehicle through the environment. The sideslip vector may be based on a vehicle position that is the center point of the wheelbase of the vehicle and may include lateral velocity, facilitating the control of four-wheel steered vehicle while maintaining the ability to control two-wheel steered vehicles.

Abstract: Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.

Abstract: Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.

Abstract: Techniques for determining a location for a vehicle to join a route structure are discussed herein. A vehicle computing system may operate the vehicle off the route structure according to an inertial-based reference frame. The vehicle computing system may determine a lateral distance of the vehicle to a route of the route structure and an angular difference between a heading of the vehicle and a direction of travel associated with the route. The vehicle computing system may determine a location to rejoin the route based on the lateral distance and the angular difference. In some examples, the vehicle computing system may determine the location based on a sigmoid function. The vehicle computing system may determine a vehicle trajectory to the location and may control the vehicle to the route based on the vehicle trajectory and the inertial-based reference frame.

Abstract: A method controls a motion of the host vehicle in the environment according to a trajectory and adjusts the trajectory of the vehicle based on the levels of risk posed by the motion of other vehicles. The method determines a set of feasible trajectories of hypothetical vehicles traveling in a driving area of the host vehicle and determines a level of risk of each feasible trajectory as a combination of the probability of the feasible trajectory to intersect with the trajectory of the host vehicle and the probability of the feasible trajectory to be followed by at least one vehicle. The method adjusts the trajectory of the host vehicle in response to assessing the levels of risk of the feasible trajectories.

Abstract: A method controls a motion of the host vehicle in the environment according to a trajectory and adjusts the trajectory of the vehicle based on the levels of risk posed by the motion of other vehicles. The method determines a set of feasible trajectories of hypothetical vehicles traveling in a driving area of the host vehicle and determines a level of risk of each feasible trajectory as a combination of the probability of the feasible trajectory to intersect with the trajectory of the host vehicle and the probability of the feasible trajectory to be followed by at least one vehicle. The method adjusts the trajectory of the host vehicle in response to assessing the levels of risk of the feasible trajectories.