US Patent 10571916 Control method for autonomous vehicles

The present disclosure provides control systems and methods for an autonomous vehicle. In one example implementation, a control method includes obtaining data indicative of a motion plan for the autonomous vehicle. The method includes upsampling the data indicative of the motion plan to determine a desired vehicle state for the autonomous vehicle. The method includes obtaining data indicative of a current vehicle state for the autonomous vehicle. The method includes determining a control command for the autonomous vehicle based at least in part on the desired vehicle state and the current vehicle state. The method includes controlling the vehicle component based at least in part on the control command.