Abstract: Among other things, systems and techniques are described for planning and control of a vehicle. A described technique includes obtaining a lateral width lookup table associated with a map of a geographic region, the map including information identifying lanes and lane connectors on which a vehicle can travel in the geographic region, the lookup table including lateral widths associated with the lanes and the lane connectors; determining a list of at least one lane or lane connector in at least one path of the vehicle; querying the lookup table to obtain at least one lateral width corresponding to the at least one lane or lane connector; generating spatial constraints for the at least one lane or lane connector based on the at least one lateral width; generating trajectories based on the list and the spatial constraints; and causing the vehicle to move along a selected trajectory of the trajectories.

Abstract: Systems and methods for selecting a trajectory for an autonomous vehicle based on perceived risk are provided. A trajectory is selected that satisfies objective safety constraints and minimizes an overall cost based at least in part on cost components representing the perceived risk of the trajectory. The vehicle is navigated according to the selected (e.g., optimized) trajectory.

Abstract: The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands.

Abstract: Provided are methods, systems, and computer program products for bidirectional path optimization in a grid. An example method may include: receiving vehicle environment data associated with an environment of a vehicle; determining an occupancy map of the environment using the vehicle environment data, the occupancy map identifying at least one obstacle in the environment; generating a reference path to a destination location for the vehicle; determining a travel path to an intermediate location in the occupancy map based at least in part on the reference path and a longitudinal direction variable, wherein the intermediate location is proximate a point on the reference path; and generating actuation commands for the vehicle based at least in part on the travel path.

Abstract: The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands.

Abstract: Provided are methods, systems, and computer program products for vehicle dynamics classification for collision and loss of control detection. Some methods described also include obtaining sensor data associated with dynamics of a vehicle, wherein the dynamics characterize motion of the vehicle and the vehicle is associated with a dynamics event classification. The methods include obtaining predicted dynamics, wherein the predicted dynamics are based on control signals and feedback on control signals from a previous time instance. Additionally, the methods include determining the dynamics event classification of the vehicle based on the dynamics and the predicted dynamics and controlling operation of the vehicle according to the dynamics event classification.

Abstract: In some aspects and/or embodiments, systems, methods, and computer program products described herein include and/or implement technology for encoding dynamic homotopy constraints in spatio-temporal grids, including a method comprising: determining a plurality of dynamic homotopy constraints associated with a scenario involving a vehicle in an environment; embedding the plurality of dynamic homotopy constraints in a plurality of spatio-temporal grids, where each spatio-temporal grid includes individual grids for each timestep of a prediction horizon, generating a plurality of trajectories based on the plurality of dynamic homotopy constraints embedded in the plurality of spatio-temporal grids; selecting a particular trajectory from among the plurality of trajectories generated; and controlling the vehicle in the environment based on the particular trajectory selected from among the plurality of trajectories.

Abstract: Systems and methods for selecting a trajectory for an autonomous vehicle based on perceived risk are provided. A trajectory is selected that satisfies objective safety constraints and minimizes an overall cost based at least in part on cost components representing the perceived risk of the trajectory. The vehicle is navigated according to the selected (e.g., optimized) trajectory.

Abstract: Among other things, systems and techniques are described for planning and control of a vehicle. A described technique includes obtaining a lateral width lookup table associated with a map of a geographic region, the map including information identifying lanes and lane connectors on which a vehicle can travel in the geographic region, the lookup table including lateral widths associated with the lanes and the lane connectors; determining a list of at least one lane or lane connector in at least one path of the vehicle; querying the lookup table to obtain at least one lateral width corresponding to the at least one lane or lane connector; generating spatial constraints for the at least one lane or lane connector based on the at least one lateral width; generating trajectories based on the list and the spatial constraints; and causing the vehicle to move along a selected trajectory of the trajectories.

Abstract: The subject matter described in this specification is generally directed control architectures for an autonomous vehicle. In one example, a reference trajectory, a set of lateral constraints, and a set of speed constraints are received using a control circuit. The control circuit determines a set of steering commands based at least in part on the reference trajectory and the set of lateral constraints and a set of speed commands based at least in part on the set of speed constraints. The vehicle is navigated, using the control circuit, according to the set of steering commands and the set of speed commands.