Autonomous Vehicle Motion Planning

A computer-implemented method, comprising:

• obtaining context data descriptive of an environment surrounding an autonomous vehicle;
• generating, based on the context data, a plurality of candidate trajectories;
• ranking, based on the context data, the plurality of candidate trajectories to select a candidate trajectory;
• and
• determining, based on a detected context from the context data, whether to refine the candidate trajectory;
• generating, in response to determining to refine the candidate trajectory, a refined trajectory by an iterative optimizer, based on the candidate trajectory;
• and
• controlling, in response to determining to refine the candidate trajectory, a motion of the autonomous vehicle based on the refined trajectory.

An autonomous vehicle control system for controlling an autonomous vehicle, the autonomous vehicle control system comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable media storing instructions that are executable by the one or more processors to cause the autonomous vehicle control system to perform operations, the operations comprising:
• obtaining context data descriptive of an environment surrounding the autonomous vehicle;
• generating, based on the context data, a plurality of candidate trajectories;
• ranking, based on the context data, the plurality of candidate trajectories to select a candidate trajectory;
• and
• determining, based on a detected context from the context data, whether to refine the candidate trajectory;
• generating, in response to determining to refine the candidate trajectory, a refined trajectory by an iterative optimizer, based on the candidate trajectory;
• and
• controlling a motion of the autonomous vehicle based on the refined trajectory.

One or more non-transitory computer-readable media storing instructions that are executable by one or more processors to cause an autonomous vehicle control system to perform operations, the operations comprising:

• obtaining context data descriptive of an environment surrounding an autonomous vehicle;
• generating, based on the context data, a plurality of candidate trajectories;
• ranking, based on the context data, the plurality of candidate trajectories to select a candidate trajectory;
• and
• determining, based on a detected context from the context data, whether to refine the candidate trajectory;
• generating, in response to determining to refine the candidate trajectory, a refined trajectory by an iterative optimizer, based on the candidate trajectory;
• and
• controlling, in response to determining to refine the candidate trajectory, a motion of the autonomous vehicle based on the refined trajectory.