Patent ID: 11899462
Assignee: UATC, LLC
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 14:
15. An autonomous vehicle, the autonomous vehicle comprising:
one or more processors;
one or more non-transitory computer-readable media that store instructions that are executable by the one or more processors to cause the autonomous vehicle to perform operations, the operations comprising:
generating, using a plan generator configured to generate motion plans for the autonomous vehicle, and based at least in part on one or more inputs associated with a surrounding environment, data indicating a plurality of motion plans of an autonomous vehicle, wherein the plurality of motion plans are respectively associated with a plurality of trajectories of the autonomous vehicle through an environment of the autonomous vehicle, wherein the one or more inputs comprise object data generated by a perception system of the autonomous vehicle;
selecting a motion plan of the plurality of motion plans for execution by the autonomous vehicle;
based at least in part on the selection of the motion plan, processing, using a plan validator configured to validate motion plans for the autonomous vehicle, the data indicating the selected motion plan and the data indicating the one or more inputs, to determine whether execution of the motion plan by the autonomous vehicle would violate one or more constraints applicable to the selected motion plan; and
responsive to a determination that execution of the motion plan by the autonomous vehicle would violate at least one constraint of the one or more constraints:
determining one or more aspects of one or more cost functions associated with violation of the at least one constraint and
generating a new motion plan for the autonomous vehicle using a machine-learning model based at least in part on the one or more aspects.