Imitation Learning for Trajectory Planning
AssigneeNissan North America, Inc.
InventorsKyle Hollins Wray, Christopher Ostafew
Life of this patent
Estimating the term…
Abstract
Trajectory planning include identifying state data based on sensor data from sensors of a vehicle. The state data are input to a machine-learning model to obtain parameters of a trajectory planner. The parameters are input to the trajectory planner to obtain a short term speed plan. The vehicle is autonomously controlled according to at least a portion of the short term speed plan.
Claims20
A method for trajectory planning, comprising:
- identifying state data based on sensor data from sensors of a vehicle;
- inputting the state data to a machine-learning model to obtain parameters of a trajectory planner;
- inputting the parameters to the trajectory planner to obtain a short term speed plan;
- and
- autonomously controlling the vehicle according to at least a portion of the short term speed plan.
A device for trajectory planning, comprising:
- a processor;
- and
- a memory, the processor configured to execute instructions stored in the memory to:
- identify state data based on sensor data from sensors of a vehicle;
- input the state data to a machine-learning model to obtain parameters of a trajectory planner;
- input the parameters to the trajectory planner to obtain a short term speed plan;
- and
- autonomously control the vehicle according to at least a portion of the short term speed plan.
A non-transitory computer-readable storage medium, comprising executable instructions that, when executed by a processor, facilitate performance of operations, comprising:
- identifying state data based on sensor data from sensors of a vehicle;
- inputting the state data to a machine-learning model to obtain parameters of a trajectory planner;
- inputting the parameters to the trajectory planner to obtain a short term speed plan;
- and
- autonomously controlling the vehicle according to at least a portion of the short term speed plan.
Dependencies are inferred from the claim text.