CONTROLLING AN AUTONOMOUS VEHICLE USING SMART CONTROL ARCHITECTURE SELECTION

摘要

A computer-readable medium stores instructions executable by one or more processors to implement an aggregate self-driving control architecture (SDCA) for controlling an autonomous vehicle. The aggregate SDCA includes a plurality of SDCAs each including a different motion planner. Each motion planner is configured to receive signals descriptive of a current state of an environment through which the autonomous vehicle is moving, and each SDCA is configured to generate candidate decisions for controlling the vehicle by using the respective motion planner to process the received signals. The aggregate SDCA also includes a decision arbiter configured to receive candidate decisions output by the SDCAs, generate decisions for controlling the vehicle by dynamically selecting from among the candidate decisions based on a current state of a desired mode signal, and provide signals indicative of the generated decisions to one or more operational subsystems of the vehicle to effectuate maneuvering of the vehicle.