Abstract: Techniques for validating or determining trajectories for a vehicle are discussed herein. A trajectory management component can receive status and/or error data from other safety system components and select or otherwise determine safe and valid vehicle trajectories. A perception component of a safety system can validate a trajectory upon which the trajectory management component can wait for selecting a vehicle trajectory, validate trajectories stored in a queue, and/or utilize kinematics for validation of trajectories. A filter component of the safety system can filter out objects based on trajectories stored in a queue. A collision detection component of the safety system can determine the collision states based on trajectories stored in a queue or determine a collision state upon which the trajectory management component can wait for selecting or otherwise determining a vehicle trajectory.

Abstract: Systems and techniques for determining deceleration controls to use in a trajectory for use in stopping a vehicle are described. A deceleration determination system may receive a trajectory from a trajectory determination system and determine, based on various deceleration parameters, the appropriate controls to configure in a longitudinal profile of the trajectory and the suitable implementation points for implementing the controls. The deceleration determination system may determine deceleration data for various types of trajectories that a vehicle computing system may select from for operating the vehicle based on current conditions.

Abstract: Systems and techniques for determining a trajectory for use in controlling a vehicle are described. A trajectory determination system may generate a variety of trajectories for potential use in controlling a vehicle, including a maximum braking trajectory that enables the maximum application of the vehicle's brakes. A vehicle computing system may determine a distance between vehicle and an obstacle and stopping distances for the various trajectories and implement the maximum braking trajectory after determining that the distance to stop for that trajectory is the same as, but not substantially greater than, the distance between the vehicle and the obstacle.

Abstract: Techniques for determining that a reference trajectory is free of intersections or potential collisions with objects are discussed herein. Trajectories being generated by a primary computing device of a vehicle can be utilized to select or determine a reference trajectory to be followed by the vehicle. A secondary computing device of the vehicle can identify a current offset from the reference trajectory and utilize the offset with a kinematics model to determine a trajectory that is predicted for the vehicle to drive to return to the reference trajectory. Validation of the reference trajectory may be based on predicted collision data determined using the tracker trajectory. The predicted collision data can be utilized to control the vehicle to follow the reference trajectory or a stop trajectory.

Abstract: Systems and techniques for determining a buffer region for use in controlling a vehicle and avoiding collisions are disclosed herein. A predicted region of travel of a vehicle front bumper may be determined. The position of the front bumper may be determined at points along a center curve of the predicted region of travel and polygons may be determined for the positions. The polygons may be joined and modified using a convex shape-based algorithm to determine a convex polygonal buffer region that is used in collision detection.

Abstract: Techniques are discussed herein for generating, evaluating, and determining trajectories for autonomous vehicles traversing environments. A state transition model may be generated and used to determine a trajectory from multiple possible trajectories generated by one or more vehicle systems. In some examples, a state transition model may determine a trajectory based on the validation results of the possible trajectories, along with vehicle status data from one or more vehicle components. Various techniques described herein may improve vehicle safety and driving efficiency, by ensuring that the vehicle determines a safe and valid trajectory consistently while navigating the environment, while also being responsive to requests and status updates from various vehicle components.

Abstract: The method disclosed herein comprises creation of an enzymatic digest medium containing feathers which may be rendered with a meat material to form a product, or may be dried after digestion has reached a desired level and then mixed with a rendered material. The composition disclosed herein comprises a product which, whether used as animal feed or as an additive or flavor to animal feed, provides a product having at least one of an improved amino acid profile, improved digestibility and more desirable levels of protein, lysine, and ash compared to the same amount of a carrier 22 meat with which it is mixed.

Abstract: The method disclosed herein comprises creation of an enzymatic digest medium containing feathers which may be rendered with a meat material to form a product, or may be dried after digestion has reached a desired level and then mixed with a rendered material. The composition disclosed herein comprises a product which, whether used as animal feed or as an additive or flavor to animal feed, provides a product having at least one of an improved amino acid profile, improved digestibility and more desirable levels of protein, lysine, and ash compared to the same amount of a carrier 22 meat with which it is mixed.