Abstract: Methods of refining a planned trajectory of an autonomous vehicle are disclose. For multiple cycles as the vehicle moves along the trajectory, the vehicle will perceive nearby objects. The vehicle will use the perceived object data to calculate a set of candidate updated trajectories. The motion planning system will measure a discrepancy between each candidate updated trajectory and the current trajectory by: (i) determining waypoints along each trajectory; (ii) determining distances between at least some of the waypoints; and (iii) using the distances to measure the discrepancy between the updated trajectory and the current trajectory. The system will use the discrepancy to select, from the set of candidate updated trajectories, a final updated trajectory for the vehicle to follow.

Abstract: Provided are systems, methods, and computer program products for severity classification of simulated collisions in self-driving systems of simulated environments, comprising controlling a simulated autonomous vehicle (AV) in a road during a plurality of simulated driving scenarios involving a road actor, automatically detecting a collision based on an intersection between affected portions of a simulated AV and affected portions the road actor, generating a plurality of collision impact scores, wherein each impact score of the plurality of collision impact scores signals a severity of a different impact type of collision, and classifying the severity of the collision based on the plurality of collision impact scores for the affected portion of the simulated AV and road actor.

Abstract: Methods of refining a planned trajectory of an autonomous vehicle are disclose. For multiple cycles as the vehicle moves along the trajectory, the vehicle will perceive nearby objects. The vehicle will use the perceived object data to calculate a set of candidate updated trajectories. The motion planning system will measure a discrepancy between each candidate updated trajectory and the current trajectory by: (i) determining waypoints along each trajectory; (ii) determining distances between at least some of the waypoints; and (iii) using the distances to measure the discrepancy between the updated trajectory and the current trajectory. The system will use the discrepancy to select, from the set of candidate updated trajectories, a final updated trajectory for the vehicle to follow.