Autonomous behavior control using policy triggering and execution
AssigneeGM Global Technology Operations LLC
InventorsPraveen Palanisamy, Upali P. Mudalige
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Abstract
An autonomous vehicle, a system and method of operating the autonomous vehicle. An environmental sensor obtains one or more parameters of external agents of the vehicle. A processor of the vehicle obtains a route having a destination at the autonomous vehicle, builds a Markov state model of the route that includes a plurality of states for the autonomous vehicle and one or more parameters of the external agents, generates a plurality of driving policies for navigating the route, selects a policy for navigating the route from the plurality of driving policies using a Markov Decision Process, and executes the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination.
Claims20
A method of operating an autonomous vehicle, comprising:
- obtaining a route having a destination at the autonomous vehicle;
- building a Markov state model representing a plurality of states for the autonomous vehicle;
- generating a plurality of driving policies for navigating the route from the Markov state model, wherein each driving policy includes a progression through the plurality of states, wherein generating a driving policy includes combining a plurality of sub-policies from a database in an ordered progression;
- selecting a policy for navigating the route from the plurality of driving policies using a Markov Decision Process;
- and
- executing the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination.
A system for operating an autonomous vehicle, comprising:
- an environmental sensor configured to obtain one or more parameters of external agents of the vehicle;
- a database of pre-determined sub-policies;
- and
- a processor configured to:
- obtain a route having a destination at the autonomous vehicle;
- build a Markov state model representing a plurality of states for the autonomous vehicle and the one or more parameters of the external agents;
- generate a plurality of driving policies for navigating the route from the Markov state model, wherein each driving policy includes a progression through the plurality of states, wherein generating a driving policy includes combining a plurality of sub-policies from the database in an ordered progression;
- select a policy for navigating the route from the plurality of driving policies using a Markov Decision Process;
- and
- execute the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination.
An autonomous vehicle, comprising:
- an environmental sensor configured to obtain one or more parameters of external agents of the vehicle;
- a database of pre-determined sub-policies;
- and
- a processor configured to:
- obtain a route having a destination at the autonomous vehicle;
- build a Markov state model representing a plurality of states for the autonomous vehicle and the one or more parameters of the external agents;
- generate a plurality of driving policies for navigating the route from the Markov state model, wherein each driving policy includes a progression through the plurality of states, wherein generating a driving policy includes combining a plurality of sub-policies from the database in an ordered progression;
- select a policy for navigating the route from the plurality of driving policies using a Markov Decision Process;
- and
- execute the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination.
Dependencies are inferred from the claim text.