Autonomous vehicles trajectory planning system and method

A system for determining a trajectory of an autonomous vehicle, the system comprising:

• a memory;
• a processor;
• and
• a trajectory determination module, comprising a neural network, the trajectory determination module stored in the memory and configured to determine the trajectory by causing the processor to perform the steps of:
• generating a graph comprising:
• an ego node corresponding to an autonomous vehicle (ego),
• a plurality of virtual nodes, each corresponding to a possible movement of the ego, and
• a plurality of ego-virtual edges, each connecting the ego node to a respective virtual node of the plurality of virtual nodes;
• and
• for a predefined number of time steps, performing the steps of:
• providing the graph as input to a neural network trained to generate a vector corresponding to a plurality of weights, each weight of the plurality of weights being associated to a respective virtual node of the plurality of virtual nodes,
• computing from the plurality of weights a vector corresponding to a movement of the ego, and
• updating the graph to account for a new position of the ego computed based on the movement of the ego,
• wherein a trajectory is defined by subsequent positions of the ego.

A non-transitory computer-readable medium having instructions stored thereon which, when executed by one or more processors, cause the one or more processors to perform the steps of:

• generating a graph comprising:
• an ego node corresponding to an autonomous vehicle (ego),
• a plurality of virtual nodes, each corresponding to a possible movement of the ego, and
• a plurality of ego-virtual edges, each connecting the ego node to a respective virtual node of the plurality of virtual nodes;
• and
• for a predefined number of time steps, performing the steps of:
• providing the graph as input to a neural network trained to generate a vector corresponding to a plurality of weights, each weight of the plurality of weights being associated to a respective virtual node of the plurality of virtual nodes,
• computing from the plurality of weights a vector corresponding to a movement of the ego, and
• updating the graph to account for a new position of the ego computed based on the movement of the ego,
• wherein a trajectory is defined by subsequent positions of the ego.