US 12,709,270 B2 · Estimating speed profiles

Abstract

Among other things, we describe techniques for estimating a speed profile for a proposed trajectory for a vehicle and operating the vehicle along the proposed trajectory according to the speed profile, including a method for: obtaining, by a planning circuit on a vehicle, a proposed trajectory for the vehicle in response to a driving scenario; obtaining, by the planning circuit, an estimated speed profile, and a confidence score, wherein the confidence score represents a similarity of the estimated speed profile to an actual speed profile that would be generated by a control circuit for the proposed trajectory; determining whether the confidence score meets a confidence threshold; and in accordance with a determination that the confidence score exceeds the confidence threshold, operating, by a control circuit on the vehicle, the vehicle along the proposed trajectory.

Claims21

Dependent claims

A method comprising:

configuring a plurality of weights for a machine learning model to estimate a speed profile for a vehicle in a driving environment, wherein at least one weight of the plurality of weights is based on a past trajectory of the vehicle and a speed profile corresponding to the past trajectory;
providing a proposed trajectory for the vehicle in the driving environment as an input to the configured machine learning model;
in response to providing the proposed trajectory as the input to the machine learning model, obtaining an output of the machine learning model comprising an estimated speed profile corresponding to the proposed trajectory;
and
determining a driving behavior of the vehicle in the driving environment using the estimated speed profile.

2 more elements

An apparatus comprising:

one or more processors;
and
machine-readable memory storing instructions that, when executed, are configured to cause the one or more processors to perform operations comprising:
configuring a plurality of weights for a machine learning model to estimate a speed profile for a vehicle in a driving environment, wherein at least one weight of the plurality of weights is based on a past trajectory of the vehicle and a speed profile corresponding to the past trajectory;
providing a proposed trajectory for the vehicle in the driving environment as an input to the configured machine learning model;
in response to providing the proposed trajectory as the input to the machine learning model, obtaining an output of the machine learning model comprising an estimated speed profile corresponding to the proposed trajectory;
and
determining a driving behavior of the vehicle in the driving environment using the estimated speed profile.

5 more elements

One or more non-transitory machine-readable media storing instructions that, when executed, are configured to cause one or more processors to perform operations comprising:

configuring a plurality of weights for a machine learning model to estimate a speed profile for a vehicle in a driving environment, wherein at least one weight of the plurality of weights is based on a past trajectory of the vehicle and a speed profile corresponding to the past trajectory;
providing a proposed trajectory for the vehicle in the driving environment as an input to the configured machine learning model;
in response to providing the proposed trajectory as the input to the machine learning model, obtaining an output of the machine learning model comprising an estimated speed profile corresponding to the proposed trajectory;
and
determining a driving behavior of the vehicle in the driving environment using the estimated speed profile.

2 more elements

Dependencies are inferred from the claim text.

Estimating speed profiles

Life of this patent

Estimating speed profiles

Life of this patent

Abstract

Claims21