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US 12,110,042 B1Granted
Systems and methods for generating physically realistic trajectories
AssigneeAurora Operations, Inc.
InventorsAnh Tuan Hoang, Harshayu Girase, Sai Bhargav Yalamanchi, Micol Marchetti-Bowick
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Abstract
Example aspects of the present disclosure describe the generation of more realistic trajectories for a moving actor with a hybrid technique using an algorithmic trajectory shaper in a machine-learned trajectory prediction pipeline. In this manner, for example, systems and methods of the present disclosure leverage the predictive power of machine-learning approaches combined with a priori knowledge about physically realistic trajectories for a given actor as encoded in an algorithmic approach.
Claims20
A computer-implemented method comprising:
- (a) obtaining data indicative of an object within an environment of an autonomous vehicle;
- (b) determining, using one or more machine-learned models, a plurality of motion goal paths for the object based at least in part on the data indicative of the object within the environment of the autonomous vehicle, wherein a respective motion goal path comprises a plurality of waypoints for the object;
- (c) determining a plurality of acceleration profiles based on the plurality of motion goal paths for the object;
- (d) determining, using a path tracking algorithm, a plurality of predicted motion trajectories of the object based on the plurality of acceleration profiles,
- wherein a respective predicted motion trajectory of the object comprises a spatial-temporal trajectory that comprises a plurality of future predicted positions of the object at a plurality of respective future timesteps;
- (e) determining a motion plan of the autonomous vehicle based on at least one of the predicted motion trajectories of the object, wherein the motion plan is indicative of a motion trajectory of the autonomous vehicle;
- and
- (f) initiating a motion control of the autonomous vehicle based on the motion plan.
5 more elements
An autonomous vehicle control system comprising:
- one or more processors;
- and
- one or more computer-readable medium storing instructions that when executed by the one or more processors cause the autonomous vehicle control system to perform operations, the operations comprising:
- (a) obtaining data indicative of an object within an environment of an autonomous vehicle;
- (b) obtaining map information associated with the environment of the autonomous vehicle;
- (c) determining, using one or more machine-learned models, a plurality of motion goal paths for the object based at least in part on the data indicative of the object within the environment of the autonomous vehicle and the map information associated with the environment of the autonomous vehicle;
- (d) determining a plurality of acceleration profiles based on the plurality of motion goal paths for the object;
- (e) determining, using a path tracking algorithm, a plurality of predicted motion trajectories of the object based on the plurality of acceleration profiles,
- wherein a respective predicted motion trajectory of the object comprises a spatial-temporal trajectory that comprises a plurality of future predicted positions of the objects at a plurality of respective future timesteps;
- (f) determining a motion plan of the autonomous vehicle based on at least one of the predicted motion trajectories of the object, wherein the motion plan is indicative of a motion trajectory of the autonomous vehicle;
- and
- (g) initiating a motion control of the autonomous vehicle based on the motion plan.
9 more elements
An autonomous vehicle comprising:
- one or more processors;
- and
- one or more computer-readable medium storing instructions that when executed by the one or more processors cause the autonomous vehicle to perform operations, the operations comprising:
- (a) obtaining data indicative of an object within an environment of an autonomous vehicle;
- (b) determining, using one or more machine-learned models, a plurality of motion goal paths for the object based at least in part on the data indicative of the object within the environment of the autonomous vehicle, wherein a respective motion goal path comprises a plurality of waypoints for the object;
- (c) determining a plurality of acceleration profiles based on the plurality of motion goal paths for the object;
- (d) determining, using a path tracking algorithm, a plurality of predicted motion trajectories of the object based on the plurality of acceleration profiles,
- wherein a respective predicted motion trajectory of the object comprises a spatial-temporal trajectory that comprises a plurality of future predicted positions of the object at a plurality of respective future timesteps;
- (e) determining a motion plan of the autonomous vehicle based on at least one of the predicted motion trajectories of the object, wherein the motion plan is indicative of a motion trajectory of the autonomous vehicle;
- and
- (f) initiating a motion control of the autonomous vehicle based on the motion plan.
8 more elements
Dependencies are inferred from the claim text.