US 2022/0035375 A1 · PREDICTIVE MOTION PLANNING SYSTEM AND METHOD

Abstract

Methods and systems for training a motion planner for an autonomous vehicle are described. A trajectory evaluator agent of the motion planner receives state data defining a current state of the autonomous vehicle and an environment at a current time step. Based on the current state, a trajectory is selected. A reward is calculated based on performance of the selected trajectory in the current state. State data is received for a next state of the autonomous vehicle and the environment at a next time step. Parameters of the trajectory evaluator agent are updated based on the current state, selected trajectory, computed reward and next state. The parameters of the trajectory evaluator agent are updated to assign an evaluation value for the selected trajectory that reflects the calculated reward and expected performance of the selected trajectory in the future states.

Claims21

Dependent claims

A system for training a motion planner for an autonomous vehicle, the system comprising a processing unit configured to execute instructions to cause the system to:

receive, as input to a trajectory evaluator agent of the motion planner, a first set of state data defining a current state of the autonomous vehicle and an environment at a current time step;
select, based on the current state, a selected trajectory;
compute reward for the selected trajectory based on performance of the selected trajectory in the current state;
receive a second set of state data defining a next state of the autonomous vehicle and the environment at a next time step;
and
update parameters of the trajectory evaluator agent based on the current state, selected trajectory, computed reward and next state, the parameters of the agent of the trajectory evaluator being updated to assign an evaluation value for the selected trajectory that reflects the computed reward and expected performance of the selected trajectory in the future states.

3 more elements

A method for training a motion planner for an autonomous vehicle, the method comprising:

receiving, as input to a trajectory evaluator of the motion planner, a first set of state data defining a current state of the autonomous vehicle and an environment at a current time step;
selecting, based on the current state, a selected trajectory;
computing a reward for the selected trajectory based on performance of the selected trajectory in the current state;
receiving a second set of state data defining a next state of the autonomous vehicle and the environment at a next time step;
and
updating parameters of the trajectory evaluator agent based on the current state, selected trajectory, computed reward and next state, the parameters of the trajectory evaluator agent being updated to assign an evaluation value for the selected trajectory that reflects the computed reward and expected performance of the selected trajectory in the future states.

3 more elements

A computer-readable medium storing instructions for execution by a processing unit of a system for training a motion planner for an autonomous vehicle, the instructions when executed causing the system to:

receive, as input to a trajectory evaluator of the motion planner, a first set of state data defining a current state of the autonomous vehicle and an environment at a current time step;
select, based on the current state, a selected trajectory;
compute a reward for the selected trajectory based on performance of the selected trajectory in the current state;
receive a second set of state data defining a next state of the autonomous vehicle and the environment at a next time step;
and
update parameters of the trajectory evaluator based on the current state, selected trajectory, computed reward and next state, the parameters of the trajectory evaluator being updated to assign an evaluation value for the selected trajectory that reflects the calculated reward and expected performance of the selected trajectory in the future states.

3 more elements

Dependencies are inferred from the claim text.

Predictive motion planning system and method

Life of this patent

Predictive motion planning system and method

Life of this patent

Abstract

Claims21