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

Claim 0:
1. A control system for controlling a vehicle in an autonomous driving mode using trajectories, the control system comprising:
one or more first computing devices of the vehicle configured to control the vehicle in the autonomous driving mode to follow at least a portion of a current trajectory; and
a planner system of the vehicle, the planner system including one or more second computing devices configured to provide the current trajectory to the one or more first computing devices,
wherein the one or more second computing devices are further configured to provide 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
wherein the one or more first computing devices are further configured to control the vehicle in the autonomous driving mode to stop following the current trajectory and start following the new trajectory.