Patent ID: 11886187
Assignee: WAYMO LLC
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 8:
9. A method for controlling a vehicle in an autonomous driving mode using trajectories, the method comprising:
controlling, by one or more first computing devices of the vehicle, the vehicle in the autonomous driving mode to follow at least a portion of a current trajectory; and
providing, by one or more second computing devices of a planner system of the vehicle, the current trajectory to the one or more first computing devices,
providing, by the one or more second computing devices, a new trajectory to the one or more first computing devices within a predetermined period of time after an error is detected by the one or more second computing devices, and
controlling, by the one or more first computing devices, the vehicle in the autonomous driving mode to stop following the current trajectory and start following the new trajectory.