{
  "$type": "site.standard.document",
  "description": "Trajectory determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, a vehicle system includes multiple planning systems for calculating trajectories. A first system may calculate first trajectories at a first frequency and the second system may calculate…",
  "path": "/patents/1259415",
  "publishedAt": "2020-04-16T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0212",
    "Zoox, Inc."
  ],
  "textContent": "Trajectory determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, a vehicle system includes multiple planning systems for calculating trajectories. A first system may calculate first trajectories at a first frequency and the second system may calculate second trajectories at a second frequency and based on the first trajectories. The first and/or second trajectories may be initialized at states of the vehicle corresponding to a projection onto a previous-in-time respective first or second trajectory. The second trajectories may be control trajectories along which the vehicle is controlled.",
  "title": "TRAJECTORY INITIALIZATION"
}