Planning system and method for controlling operation of an autonomous vehicle to navigate a planned path
AssigneeHuawei Technologies Co., Ltd.
InventorsMohsen Rohani, Jun Luo, Song Zhang
Life of this patent
Estimating the term…
Abstract
A multi layer learning based control system and method for an autonomous vehicle or mobile robot. A mission planning layer, behavior planning layer and motion planning layer each having one or more neural neworks are used to develop an optimal route for the autonomous vehicle or mobile robot, provide a series of functional tasks associated with at least one or more of the neural networks to follow the planned optimal route and develop commands to implement the functional tasks.
Claims19
A planning system for vehicle, the planning system comprising:
- a plurality of hierarchal software layers including:
- a mission planning layer comprising one or more neural networks configured to determine an optimal route for the vehicle or mobile robot based on a start point, an end point and a digital map of an environment surrounding the vehicle;
- a behaviour planning layer comprising one or more neural networks, the behaviour planning layer configured to receive the optimal route determined by the mission planning layer and sensor data sensed by a plurality of sensors of the vehicle, each neural network of the behaviour planning layer configured to predict a respective behavior task for the vehicle based on the sensor data and the optimal route;
- and
- a motion planning layer comprising one or more neural networks, the motion planning layer configured to receive each behaviour task predicted by the behaviour planning layer and the sensor data, each neural network of the motion planning layer configured to predict a respective motion task for the vehicle based on the received behavior tasks and the sensor data, wherein the behaviour planning layer is feed-associated with the motion planning layer, and wherein the behaviour planning layer is configured to feed-forward information to the motion planning layer and receive feedback of information from the motion planning layer.
A method of controlling autonomous operation of a vehicle or mobile robot, the method comprising:
- receiving a plurality of behaviour tasks predicted by a behaviour planning layer of a planning system of the vehicle or mobile, each respective behaviour task predicted by a respective neural network of a plurality of neural networks of the behaviour planning layer based on an optimal route determined by a mission planning layer of the planning system and a sensor data received from a sensor mounted to the vehicle or mobile robot;
- receiving a plurality of motion tasks from a mission planning layer of a planning system of the vehicle or robot, each respective motion task predicted by a respective neural network of a plurality of neural networks of the motion planning layer based on the behaviour tasks received from the behaviour planning layer and the sensor data, wherein the behaviour planning layer is feed-associated with the motion planning layer, and wherein the behaviour planning layer is configured to feed-forward information to the motion planning layer and receive feedback of information from the motion planning layer;
- and
- controlling the vehicle or mobile robot based on the predicted behaviour tasks and the predicted motion tasks to operate the vehicle or mobile robot autonomously to navigate the optimal route.
Dependencies are inferred from the claim text.