Patent ID: 11899453
Assignee: UATC, LLC
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 15:
16. An autonomous vehicle, comprising:
one or more processors; and
one or more tangible, non-transitory, computer-readable media that store instructions that, when executed by the one or more processors, cause the one or more processors perform operations, the operations comprising:
obtaining a candidate motion plan that describes a proposed motion path for the autonomous vehicle;
identifying a nominal pathway associated with the autonomous vehicle, wherein the candidate motion plan deviates from the nominal pathway and wherein the nominal pathway comprises a plurality of nominal pathway locations;
projecting the candidate motion plan onto the nominal pathway to determine a projected distance along the nominal pathway for the candidate motion plan;
selecting the candidate motion plan for implementation based at least in part on the projected distance; and
executing one or more control signals to control the motion of the autonomous vehicle based on the candidate motion plan.