US 2022/0063666 A1 · SCORING AUTONOMOUS VEHICLE TRAJECTORIES USING REASONABLE CROWD DATA

Abstract

Enclosed are embodiments for scoring one or more trajectories of a vehicle through a given traffic scenario using a machine learning model that predicts reasonableness scores for the trajectories. In an embodiment, human annotators, referred to as a “reasonable crowd,” are presented with renderings of two or more vehicle trajectories traversing through the same or different traffic scenarios. The annotators are asked to indicate their preference for one trajectory over the other(s). Inputs collected from the human annotators are used to train the machine learning model to predict reasonableness scores for one or more trajectories for a given traffic scenario. These predicted trajectories can be used to rank trajectories generated by a route planner based on their scores, compare AV software stacks, or used by any other application that could benefit from a machine learning model that scores vehicle trajectories.

Claims20

Dependent claims

A method comprising:

generating, using one or more processors, a set of trajectories for a vehicle operating in an environment, each trajectory in the set of trajectories associated with a traffic scenario;
predicting, using the one or more processors, a reasonableness score for each trajectory in the set of trajectories, wherein the reasonableness score is obtained from a machine learning model that is trained using input obtained from a plurality of human annotators, and a loss function that penalizes predictions of reasonableness scores that violate a rulebook structure;
augmenting, using the one or more processors, a route planner of the vehicle using the predicted reasonableness scores for the trajectories;
planning, using the one or more processors, a trajectory in the environment using the augmented route planner;
and
operating, using a control circuit of the vehicle, the vehicle along the planned trajectory.

3 more elements

Dependencies are inferred from the claim text.

Scoring autonomous vehicle trajectories using reasonable crowd data

Life of this patent

Scoring autonomous vehicle trajectories using reasonable crowd data

Life of this patent

Abstract

Claims20