US 2019/0317512 A1 · METHOD TO EVALUATE TRAJECTORY CANDIDATES FOR AUTONOMOUS DRIVING VEHICLES (ADVS)

Abstract

In one embodiment, a system generates a plurality of trajectory candidates for an autonomous driving vehicle (ADV) from a starting point to an end point of a particular driving scenario. The system generates a reference trajectory corresponding to the driving scenario based on a current state of the ADV associated with the starting point and an end state of the ADV associated with the end point, where the reference trajectory is associated with an objective. For each of the trajectory candidates, the system compares the trajectory candidate with the reference trajectory to generate an objective cost representing a similarity between the trajectory candidate and the reference trajectory. The system selects one of the trajectory candidates as a target trajectory for driving the ADV based on objective costs of the trajectory candidates.

Claims21

Dependent claims

A computer-implemented method to determining a trajectory to operate an autonomous driving vehicle, the method comprising:

generating a plurality of trajectory candidates for an autonomous driving vehicle (ADV) from a starting point to an end point of a particular driving scenario;
generating a reference trajectory corresponding to the driving scenario based on a current state of the ADV associated with the starting point and an end state of the ADV associated with the end point, wherein the reference trajectory is associated with an objective;
for each of the trajectory candidates, comparing the trajectory candidate with the reference trajectory to generate an objective cost representing a similarity between the trajectory candidate and the reference trajectory;
and
selecting one of the trajectory candidates as a target trajectory for driving the ADV based on objective costs of the trajectory candidates.

2 more elements

A non-transitory machine-readable medium having instructions stored therein, which when executed by one or more processors, cause the one or more processors to perform operations, the operations comprising:

generating a plurality of trajectory candidates for an autonomous driving vehicle (ADV) from a starting point to an end point of a particular driving scenario;
generating a reference trajectory corresponding to the driving scenario based on a current state of the ADV associated with the starting point and an end state of the ADV associated with the end point, wherein the reference trajectory is associated with an objective;
for each of the trajectory candidates, comparing the trajectory candidate with the reference trajectory to generate an objective cost representing a similarity between the trajectory candidate and the reference trajectory;
and
selecting one of the trajectory candidates as a target trajectory for driving the ADV based on objective costs of the trajectory candidates.

2 more elements

A data processing system, comprising:

one or more processors;
and
a memory coupled to the one or more processors to store instructions, which when executed by the one or more processors, cause the one or more processors to perform operations, the operations including
generating a plurality of trajectory candidates for an autonomous driving vehicle (ADV) from a starting point to an end point of a particular driving scenario;
generating a reference trajectory corresponding to the driving scenario based on a current state of the ADV associated with the starting point and an end state of the ADV associated with the end point, wherein the reference trajectory is associated with an objective;
for each of the trajectory candidates, comparing the trajectory candidate with the reference trajectory to generate an objective cost representing a similarity between the trajectory candidate and the reference trajectory;
and
selecting one of the trajectory candidates as a target trajectory for driving the ADV based on objective costs of the trajectory candidates.

5 more elements

Dependencies are inferred from the claim text.

Method to evaluate trajectory candidates for autonomous driving vehicles (advs)

Life of this patent

Method to evaluate trajectory candidates for autonomous driving vehicles (advs)

Life of this patent

Abstract

Claims21