Methods, devices, and systems for analyzing motion plans of autonomous vehicles
AssigneeUatc, LLC
InventorsSameer Bardapurkar, Moslem Kazemi, David McAllister Bradley
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Abstract
The present disclosure is directed to analyzing motion plans of autonomous vehicles. In particular, the methods, devices, and systems of the present disclosure can: receive data indicating a motion plan, of an autonomous vehicle through an environment, based at least in part on multiple different constraints of the environment; and determine, for each constraint of the multiple different constraints, a measure of an influence of the constraint on the motion plan.
Claims22
A computer-implemented method for analyzing a motion plan of an autonomous vehicle, the method comprising:
- receiving data indicating a motion plan comprising at least one trajectory of an autonomous vehicle through an environment, wherein the at least one trajectory comprises a plurality of different points, wherein the motion plan is generated, determined, or selected based at least in part on a plurality of different constraints associated with the environment;
- determining for at least one point of the plurality of different points, a sub measure of an influence of at least one of the plurality of different constraints on the motion plan at the at least one point, wherein a measure of the influence of the at least one constraint is indicative of a respective contribution of the at least one constraint to a generation, a determination, or a selection of the motion plan;
- refining one or more instructions associated with the generation, the determination, or the selection of the motion plan based on the measure of the influence of the at least one constraint;
- and
- instructing the autonomous vehicle to move in accordance with one or more motion plans that are generated, determined, or selected based on the one or more refined instructions.
An autonomous vehicle control system for controlling an autonomous vehicle, the autonomous vehicle control system comprising:
- one or more processors;
- and
- one or more non-transitory computer-readable media storing instructions that are executable by the one or more processors to cause the autonomous vehicle control system to perform operations, the operations comprising:
- receiving data indicating a motion plan comprising at least one trajectory of an autonomous vehicle through an environment, wherein the at least one trajectory comprises a plurality of different points, wherein the motion plan is generated, determined, or selected based at least in part on a plurality of different constraints associated with the environment;
- determining for at least one point of the plurality of different points, a sub measure of an influence of at least one of the plurality of different constraints on the motion plan at the at least one point, wherein a measure of the influence of the at least one constraint is indicative of a respective contribution of the at least one constraint to a generation, a determination, or a selection of the motion plan;
- refining one or more instructions associated with the generation, the determination, or the selection of the motion plan based on the measure of the influence of the at least one constraint;
- and
- instructing the autonomous vehicle to move in accordance with one or more motion plans that are generated, determined, or selected based on the one or more refined instructions.
One or more non-transitory computer-readable media storing instructions that are executable by one or more processors to cause an autonomous vehicle control system to perform operations, the operations comprising:
- receiving data indicating a motion plan comprising at least one trajectory of an autonomous vehicle through an environment, wherein the at least one trajectory comprises a plurality of different points, wherein the motion plan is generated, determined, or selected based at least in part on a plurality of different constraints associated with the environment;
- determining for at least one point of the plurality of different points, a sub measure of an influence of at least one of the plurality of different constraints on the motion plan at the at least one point, wherein a measure of the influence of the at least one constraint is indicative of a respective contribution of the at least one constraint to a generation, a determination, or a selection of the motion plan;
- refining one or more instructions associated with the generation, the determination, or the selection of the motion plan based on the measure of the influence of the at least one constraint;
- and
- instructing the autonomous vehicle to move in accordance with one or more motion plans that are generated, determined, or selected based on the one or more refined instructions.
Dependencies are inferred from the claim text.