Tracker trajectory validation

1 . A system comprising:

one or more processors; and

one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:

receiving, from a primary computing component, a first reference trajectory for an autonomous vehicle to follow;

determining an offset of the autonomous vehicle with respect to the first reference trajectory;

determining, by a secondary computing component, based at least in part on the offset, a tracker trajectory that the autonomous vehicle is predicted to be controlled to drive to converge to the first reference trajectory, the tracker trajectory generated at a first time and comprising a predicted position of the autonomous vehicle at a later second time;

receiving an actual position of the autonomous vehicle at the second time;

determining an error between the predicted position and the actual position of the autonomous vehicle at the second time;

determining a likelihood of collision between the vehicle and an object proximate the vehicle based at least in part on the tracker trajectory; and

controlling the autonomous vehicle based at least in part on the likelihood of collision.

2 . The system of claim 1 , the operations comprising:

determining a difference between the first reference trajectory associated with the tracker trajectory and a second reference trajectory associated with the second time; and

determining that the difference is less than or equal to a threshold difference.

3 . The system of claim 1 , wherein the error represents a lateral error between the predicted position and the actual position, a longitudinal error between the predicted position and the actual position, or a heading error between the predicted position and the actual position.

4 . The system of claim 1 , the operations comprising:

verifying the secondary computing component based at least in part on the error between the predicted position and the actual position of the autonomous vehicle at the second time.

5 . A method comprising:

receiving a first trajectory that a vehicle is to follow;

determining an offset of the vehicle to the first trajectory;

determining, by a model, a second trajectory based at least in part on the offset, the second trajectory generated at a first time and predicting a first characteristic of the vehicle at a second time, the second trajectory representing a prediction of a path the vehicle will be controlled to follow to converge to the first trajectory; and

one or more of:

determining, based at least in part on the second trajectory, a potential collision; and

controlling the vehicle based at least in part on the potential collision, or

receiving a second characteristic of the vehicle representing an actual movement characteristic of the vehicle at the second time;

determining an error between the first characteristic and the second characteristic; and

verifying, based at least in part on the error, performance of the model.

6 . The method of claim 5 , wherein the first characteristic and the second characteristic comprise one or more of a position, velocity, acceleration, orientation, or pose of the vehicle at the second time.

7 . The method of claim 5 , comprising:

generating a metric based at least in part on the error, the metric descriptive of performance of the model.

8 . The method of claim 7 , comprising:

comparing the metric to a threshold; and

issuing an alert to a user based on comparing the metric to the threshold.

9 . The method of claim 5 , wherein determining the error is based at least in part on:

receiving a third trajectory;

determining a difference between the first trajectory and the third trajectory; and

determining that the difference is less than or equal to a threshold difference.

10 . The method of claim 5 , wherein determining the potential collision comprises:

receiving sensor data;

detecting an object in sensor data;

propagating a model of the vehicle along the second trajectory;

propagating a model of the object along an object trajectory; and

determining whether there is overlap between the model of the vehicle and the model of the object.

11 . The method of claim 5 , further comprising:

determining, based at least in part on the error, a geographic location associated with the error.

12 . One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

receiving a first trajectory that a vehicle is predicted to follow, the first trajectory based at least in part on an offset between the vehicle and a second trajectory associated with the vehicle, the first trajectory generated at a first time and predicting a first movement characteristic of the vehicle at a second time, the first trajectory representing a prediction of a path the vehicle will be controlled to follow based on the offset;

receiving a second movement characteristic of the vehicle, the second movement characteristic representing an actual movement characteristic of the vehicle at the second time;

determining a first error between the first movement characteristic and the second movement characteristic; and

verifying, based at least in part on the first error, performance of a model for generating trajectories that a vehicle is predicted to follow.

13 . The one or more non-transitory computer-readable media of claim 12 , the operations comprising:

issuing an alert to a user based at least in part on verifying the model.

14 . The one or more non-transitory computer-readable media of claim 12 , the operations comprising:

determining a metric based at least in part on the first error and on a second error, the second error determined based at least in part on a third characteristic of the vehicle at a third time predicted by a third trajectory.

15 . The one or more non-transitory computer-readable media of claim 12 , the operations comprising:

comparing the first error to a third error, the third error determined based at least in part on a fourth characteristic of the vehicle at a fourth time predicted by a fourth trajectory.

16 . The one or more non-transitory computer-readable media of claim 12 , the operations comprising:

determining the first trajectory based at least in part on the offset between the vehicle and the second trajectory.

17 . The one or more non-transitory computer-readable media of claim 12 , the operations comprising:

comparing the second trajectory to a third trajectory associated with the vehicle, the third trajectory associated with the second time.

18 . The one or more non-transitory computer-readable media of claim 12 , wherein the second trajectory represents a reference trajectory for the vehicle to follow, and wherein the first trajectory represents a trajectory the vehicle is predicted to drive to converge to the second trajectory.

19 . The one or more non-transitory computer-readable media of claim 12 , the operations comprising:

transmitting the first error to a remote computing device.

20 . The one or more non-transitory computer-readable media of claim 12 , wherein the first error represents one or more of a position error, a lateral position error, a longitudinal position error, a heading error, a pose error, a velocity error, or an acceleration error.