Hybrid planning system for autonomous vehicles

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• determining one or more bounding conditions based on a perceived environment of an autonomous driving vehicle (ADV), wherein the one or more bounding conditions include a path bound and a speed bound;
• generating a first trajectory with a deep learning models layer, the first trajectory generated using a neural network model trained to generate a driving trajectory;
• generating a second trajectory with a rules-based models layer, the second trajectory generated based on an objective function and the one or more bounding conditions such that the second trajectory satisfies the one or more bounding conditions;
• determining if the first trajectory satisfies the one or more bounding conditions;
• if the first trajectory satisfies the one or more bounding conditions, controlling the ADV autonomously according to the first trajectory;
• and
• otherwise, controlling the ADV autonomously according to the second trajectory.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including:
• determining one or more bounding conditions based on a perceived environment of an autonomous driving vehicle (ADV), wherein the one or more bounding conditions include a path bound and a speed bound;
• generating a first trajectory with a deep learning models layer, the first trajectory generated using a neural network model trained to generate a driving trajectory;
• generating a second trajectory with a rules-based models layer, the second trajectory generated based on an objective function and the one or more bounding conditions such that the second trajectory satisfies the one or more bounding conditions;
• determining if the first trajectory satisfies the one or more bounding conditions;
• if the first trajectory satisfies the one or more bounding conditions, controlling the ADV autonomously according to the first trajectory;
• and
• otherwise, controlling the ADV autonomously according to the second trajectory.