Abstract: A method for controlling an autonomous vehicle based on predicted behavior of one or more actors on a road comprises receiving input data comprising sensor data from one or more sensors of the autonomous vehicle about one or more actors on a road; generating an objective prediction based on the input data comprising a probability that a first actor will execute a driving operation; identifying one or more behavioral features associated with the driving operation; generating one or more behavioral feature predictions corresponding to the one or more behavioral features; providing the objective prediction and the one or more behavioral feature predictions to a motion planner; determining one or more responsive actions of the autonomous vehicle based on at least one of the objective prediction or the one or more behavioral feature predictions; and controlling motion of the autonomous vehicle based on the one or more responsive actions.

Abstract: A method for selecting a trajectory for a vehicle includes receiving first perception data from one or more sensors positioned on the vehicle at a first time; generating at least one nominal trajectory based on the first perception data; receiving second perception data from the one or more sensors at a second time after the first time; generating at least one fast-path trajectory based on the second perception data; selecting a trajectory from the at least one nominal trajectory and the at least one fast-path trajectory.

Abstract: Methods and systems for maneuvering an autonomous vehicle are disclosed. The methods include generating a multi-corridor representation corresponding to a local region around the autonomous vehicle while travelling on a route, and using the multi-corridor representation and perception data corresponding to the local region to generate a trajectory for the autonomous vehicle to traverse the local region. The multi-corridor representation includes a plurality of adjacent corridors that each include one or more lane segments of a road network. A location of executing a lane change along the route is determined dynamically during a trajectory generation phase based on the perception data.

Abstract: Systems and methods for operating a vehicle. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle that is in motion; detecting an object within a given distance from the vehicle; generating, by the computing device, at least one possible object trajectory for the object which was detected; performing, by the computing device, a collision check to determine that there remains time to react safely to worst-case behavior by the object (the collision check being based on the vehicle trajectory and at least one possible object trajectory); and performing operations, by the computing device, to selectively cause the vehicle to perform an emergency maneuver based on results of the collision check.

Abstract: Disclosed herein are system, method, and computer program product embodiments for switching between local and remote guidance instructions for autonomous vehicles. For example, the method includes, in response to monitoring one or more actions of objects detected in a scene in which the autonomous robotic system is moving, causing the autonomous robotic system to slow or cease movement in the scene. The method includes detecting a trigger condition based on movement of the autonomous robotic system in the scene. In response to the one or more monitored actions and detecting the trigger condition, the method includes transmitting a remote guidance request to a remote server. After transmitting the remote guidance request, the method includes receiving remote guidance instructions from the remote server and causing the autonomous robotic system to begin operating according to the remote guidance instructions.

Abstract: Systems and methods of maneuvering an autonomous vehicle in a local region using topological planning, while traversing a route to a destination location, are disclosed. The system includes an autonomous vehicle including one or more sensors and a processor. The processor is configured to determine the local region on the route and receive real-time information corresponding to the local region. The processor performs topological planning to identify on or more topologically distinct classes of trajectories, compute a constraint set for each of the one or more topologically distinct classes of trajectories, optimize a trajectory to generate a candidate trajectory for each constraint set, and select a trajectory for the autonomous vehicle to traverse the local region from amongst the one or more candidate trajectories.

Abstract: Systems and methods for operating a vehicle are disclosed. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle while the vehicle is in motion; detecting an object within a given distance from the vehicle; generating at least one possible object trajectory for the object which was detected; performing a collision check to determine whether a collision between the vehicle and the object can be avoided based on the vehicle trajectory and the at least one possible object trajectory; performing a plausibility check to determine whether the collision is plausible based on content of a map, when a determination is made in the collision check that a collision between the vehicle and the object cannot be avoided; and performing operations to selectively cause the vehicle to perform an emergency maneuver based on results of the plausibility check.

Abstract: Methods, systems, and computer program products for navigating a vehicle are disclosed. The methods include extracting lane segment data associated with lane segments of a vector map that are within a region of interest, and analyzing the lane segment data and a heading of the vehicle to determine whether motion of the vehicle satisfies a condition. The condition can be associated with (i) an association between the heading of the vehicle and a direction of travel of a lane that corresponds to the current location of the vehicle and/or (ii) a minimum stopping distance to an imminent traffic control measure in the lane that corresponds to the current location of the vehicle. When the motion does not satisfy the condition, the methods include causing the vehicle to perform a motion correction.

Abstract: Disclosed herein are system, method, and computer program product embodiments for switching between local and remote guidance instructions for autonomous vehicles. For example, the method includes, in response to monitoring one or more actions of objects detected in a scene in which the autonomous robotic system is moving, causing the autonomous robotic system to slow or cease movement in the scene. The method includes detecting a trigger condition based on movement of the autonomous robotic system in the scene. In response to the one or more monitored actions and detecting the trigger condition, the method includes transmitting a remote guidance request to a remote server. After transmitting the remote guidance request, the method includes receiving remote guidance instructions from the remote server and causing the autonomous robotic system to begin operating according to the remote guidance instructions.

Abstract: Methods, systems, and computer program products for navigating a vehicle are disclosed. The methods include extracting lane segment data associated with lane segments of a vector map that are within a region of interest, and analyzing the lane segment data and a heading of the vehicle to determine whether motion of the vehicle satisfies a condition. The condition can be associated with (i) an association between the heading of the vehicle and a direction of travel of a lane that corresponds to the current location of the vehicle and/or (ii) a minimum stopping distance to an imminent traffic control measure in the lane that corresponds to the current location of the vehicle. When the motion does not satisfy the condition, the methods include causing the vehicle to perform a motion correction.

Abstract: Vehicle driver assistance and warning systems that alert a driver of a vehicle to wrong-way driving and/or imminent traffic control measures (TCMs) are disclosed. The system will identify a region of interest around the vehicle, access a vector map that includes the region of interest, and extract lane segment data associated with lane segments that are within the region of interest. The system will analyze the lane segment data and the vehicle's direction of travel to determine whether motion of the vehicle indicates that either: (a) the vehicle is traveling in a wrong-way direction for its lane; or (b) the vehicle is within a minimum stopping distance to an imminent TCM in its lane. When the system detects either condition, it will cause a driver warning system of the vehicle to output a driver alert.

Abstract: Methods and systems for maneuvering an autonomous vehicle are disclosed. The methods include generating a multi-corridor representation corresponding to a local region around the autonomous vehicle while travelling on a route, and using the multi-corridor representation and perception data corresponding to the local region to generate a trajectory for the autonomous vehicle to traverse the local region. The multi-corridor representation includes a plurality of adjacent corridors that each include one or more lane segments of a road network. A location of executing a lane change along the route is determined dynamically during a trajectory generation phase based on the perception data.

Abstract: A method and a system for maneuvering an autonomous vehicle is disclosed. The system includes an autonomous vehicle including one or more sensors and a processor. The processor is configured to generate a nominal route from a start position toward a destination with reference to a road network map. The nominal route includes a plurality of consecutive lane segments from the start position to the destination. The processor is further configured to use the road network map to identify at least one candidate lane segment corresponding to one or more of the plurality of consecutive lane segments to generate an expanded route representation, generate a multi-corridor representation of a local region around the autonomous vehicle while travelling on the nominal path, and generate a trajectory for the autonomous vehicle to traverse the local region using the multi-corridor representation and perception data corresponding to the autonomous vehicle.

Abstract: Vehicle driver assistance and warning systems that alert a driver of a vehicle to wrong-way driving and/or imminent traffic control measures (TCMs) are disclosed. The system will identify a region of interest around the vehicle, access a vector map that includes the region of interest, and extract lane segment data associated with lane segments that are within the region of interest. The system will analyze the lane segment data and the vehicle's direction of travel to determine whether motion of the vehicle indicates that either: (a) the vehicle is traveling in a wrong-way direction for its lane; or (b) the vehicle is within a minimum stopping distance to an imminent TCM in its lane. When the system detects either condition, it will cause a driver warning system of the vehicle to output a driver alert.

Abstract: An autonomous vehicle navigates an intersection in which occlusions block the vehicle's ability to detect moving objects. The vehicle handles this by generating a phantom obstacle behind the occlusion. The vehicle will predict the speed of the phantom obstacle and use the predicted speed to assess whether the phantom obstacle may collide with the vehicle. If a collision is a risk, the vehicle will slow or stop until it confirms that either (a) the phantom obstacle is not a real obstacle or (b) the vehicle can proceed at a speed that avoids the collision. To determine which occlusions shield real objects, the system may use a rasterized visibility grid of the area to identify occlusions that may accommodate the object.

Abstract: Systems and methods for operating a vehicle are disclosed. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle while the vehicle is in motion; detecting an object within a given distance from the vehicle; generating at least one possible object trajectory for the object which was detected; performing a collision check to determine whether a collision between the vehicle and the object can be avoided based on the vehicle trajectory and the at least one possible object trajectory; performing a plausibility check to determine whether the collision is plausible based on content of a map, when a determination is made in the collision check that a collision between the vehicle and the object cannot be avoided; and performing operations to selectively cause the vehicle to perform an emergency maneuver based on results of the plausibility check.

Abstract: Systems and methods for operating a vehicle. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle that is in motion; detecting an object within a given distance from the vehicle; generating, by the computing device, at least one possible object trajectory for the object which was detected; using, by the computing device, the vehicle trajectory and the at least one possible object trajectory to determine whether there is an undesirable level of risk that a collision will occur between the vehicle and the object; modifying, by the computing device, the vehicle trajectory when a determination is made that there is an undesirable level of risk that the collision will occur; and automatically causing the vehicle to move according to the modified vehicle trajectory.

Abstract: Systems and methods for operating a vehicle. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle that is in motion; detecting an object within a given distance from the vehicle; generating, by the computing device, at least one possible object trajectory for the object which was detected; performing, by the computing device, a collision check to determine that there remains time to react safely to worst-case behavior by the object (the collision check being based on the vehicle trajectory and at least one possible object trajectory); and performing operations, by the computing device, to selectively cause the vehicle to perform an emergency maneuver based on results of the collision check.

Abstract: Systems and methods for operating a vehicle. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle that is in motion; detecting an object within a given distance from the vehicle; generating, by the computing device, at least one possible object trajectory for the object which was detected; performing, by the computing device, a collision check to determine that there remains time to react safely to worst-case behavior by the object (the collision check being based on the vehicle trajectory and at least one possible object trajectory); and performing operations, by the computing device, to selectively cause the vehicle to perform an emergency maneuver based on results of the collision check.

Abstract: Systems and methods of maneuvering an autonomous vehicle in a local region using topological planning, while traversing a route to a destination location, are disclosed. The system includes an autonomous vehicle including one or more sensors and a processor. The processor is configured to determine the local region on the route and receive real-time information corresponding to the local region. The processor performs topological planning to identify on or more topologically distinct classes of trajectories, compute a constraint set for each of the one or more topologically distinct classes of trajectories, optimize a trajectory to generate a candidate trajectory for each constraint set, and select a trajectory for the autonomous vehicle to traverse the local region from amongst the one or more candidate trajectories.