{
  "$type": "site.standard.document",
  "description": "Aspects of the disclosure provide for controlling an autonomous vehicle (100). For example, a set of potential stopping locations may be identified based on a current location of an autonomous vehicle. A set of potential states may be identified for the autonomous vehicle. A fallback cost for each…",
  "path": "/patents/1394544",
  "publishedAt": "2025-05-14T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/001",
    "WAYMO LLC [US]"
  ],
  "textContent": "Aspects of the disclosure provide for controlling an autonomous vehicle (100). For example, a set of potential stopping locations may be identified based on a current location of an autonomous vehicle. A set of potential states may be identified for the autonomous vehicle. A fallback cost for each potential state of the set of potential states to reach each potential stopping location of the set of potential stopping locations may be determined. A trajectory for an autonomous vehicle may be planned based on a route to a destination and the determined fallback costs. The autonomous vehicle (100) may be controlled according to at least a portion of the trajectory.",
  "title": "PLANNING TRAJECTORIES FOR CONTROLLING AUTONOMOUS VEHICLES"
}