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US 2025/0053875 A1Published application
Homotopy extraction for autonomous driving using a machine learning model
AssigneeMotional AD LLC
InventorsThomas Kølbæk Jespersen, Juraj Kabzan
Life of this patent
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Abstract
Provided are methods for homotopy extraction using a machine learning model, which can include obtaining sensor data and route data and determining homotopy data comprising constraint data, for example, based on sensor data and/or route data. Some methods described also include providing operation data associated with the homotopy data to cause the vehicle to operate based on the constraint data. Systems and computer program products are also provided.
Claims23
A method, comprising:
- obtaining, using at least one processor, first training data associated with a first route;
- and
- performing, using the at least one processor, a first training comprising:
- generating, using the at least one processor and a machine learning model, first homotopy data based on the first training data, wherein the first homotopy data is associated with a first environment corresponding to a portion of the first route;
- obtaining, using the at least one processor, at least one of first training homotopy data or a first training trajectory;
- determining, using the at least one processor and at least one first loss function, at least one first loss parameter based on the first homotopy data and the at least one of the first training homotopy data or the first training trajectory;
- and
- modifying, using the at least one processor, the machine learning model based on the at least one first loss parameter.
5 more elements
A method, comprising:
- obtaining, using at least one processor, sensor data associated with an environment in which a first vehicle is operating;
- obtaining, using the at least one processor, route data associated with a route plan;
- determining, using a machine learning model, homotopy data based on the sensor data and the route data, wherein the homotopy data comprises constraint data and wherein the homotopy data is associated with a homotopy from a first location to a second location, wherein the first location and the second location are associated with the route data;
- and
- generating, using the at least one processor, operation data associated with the homotopy data to cause the first vehicle to operate.
2 more elements
A system, comprising:
- at least one processor;
- and
- at least one non-transitory computer-readable medium storing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations including:
- obtaining sensor data associated with an environment in which a vehicle is operating;
- obtaining route data associated with a route plan;
- determining, using a machine learning model, homotopy data based on the sensor data and the route data, wherein the homotopy data comprises constraint data associated with at least one continuously differentiable parametric constraint and wherein the homotopy data is associated with a homotopy from a first location to a second location, wherein the first location and the second location are associated with the route data;
- and
- generating operation data associated with the homotopy data to cause the vehicle to operate.
5 more elements
Dependencies are inferred from the claim text.