System for integrating dynamically observed and static information for route planning in a graph based planner

摘要

Methods and systems of controlling an autonomous vehicle are provided. A method comprises controlling operations of the vehicle based at least in part on edge costs. An edge is a representation of a path the vehicle can traverse. Edge costs are determined by an estimation system and are based on at least one of an estimated travel time for an edge and a traverse-ability of the edge. The method further comprises sensing conditions of edges the vehicle is traversing and based on the sensed conditions, dynamically updating the edge costs.