Data-driven warm start selection for optimization-based trajectory planning
AssigneeToyota Research Institute, Inc.
InventorsMiroslav Baric, Jin Ge, Timothee Cazenave
Life of this patent
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Abstract
Systems and methods for trajectory planning for an autonomous vehicle, may include: computing features for each of the plurality of candidate trajectories; computing scores for the features of the candidate trajectories, wherein the scores are based on parameter values associated with their corresponding final trajectories; determining, based on the computed scores, a trajectory of the candidate trajectories to be used as a warm-start trajectory for trajectory optimization and applying the warm-start trajectory to develop a final trajectory for the vehicle; and autonomously operating the autonomous vehicle in accordance with the final trajectory.
Claims24
A method of trajectory planning for an autonomous vehicle, comprising:
- generating a plurality of candidate trajectories, the plurality of candidate trajectories including a sequence of waypoints for the autonomous vehicle associated with corresponding time instances;
- computing features of a path associated with each of the plurality of candidate trajectories;
- computing scores for the computed features of the plurality of candidate trajectories, wherein the computed scores are based on parameter values of the plurality of candidate trajectories;
- evaluating the computed scores for each of the plurality of candidate trajectories, and selecting, based on the evaluation of the computed scores of the plurality of candidate trajectories, a trajectory from among the plurality of candidate trajectories to be used as a warm-start trajectory for trajectory optimization and applying the warm-start trajectory to develop a final trajectory for the autonomous vehicle;
- and
- operating the autonomous vehicle in accordance with the final trajectory.
A vehicle control system for trajectory planning for an autonomous vehicle, 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 comprising:
- computing features of a path associated with each of a plurality of candidate trajectories;
- computing scores for the computed features of the plurality of candidate trajectories, wherein the computed scores are based on parameter values of the plurality of candidate trajectories;
- evaluating the computed scores for each of the plurality of candidate trajectories, and selecting, based on the evaluation of the computed scores of the plurality of candidate trajectories, a trajectory from among the plurality of candidate trajectories to be used as a warm-start trajectory for trajectory optimization and applying the warm-start trajectory to develop a final trajectory for the autonomous vehicle;
- and
- operating the autonomous vehicle in accordance with the final trajectory.
Dependencies are inferred from the claim text.