Generating a Trajectory for an Autonomous Vehicle
AssigneeOxa Autonomy Ltd
InventorsBen Upcroft, Andrew English, Chi Tong
Life of this patent
Estimating the term…
Abstract
The subject-matter of the present disclosure relates to a computer-implemented method of generating a trajectory for an autonomous vehicle, AV, using an autonomy stack. The autonomy stack includes an end-to-end network trained to generate a trajectory for the AV from sensor inputs, a tracking module and a planning module. The computer-implemented method comprises: receiving, by the tracking module, a plurality of objects identified based on sensor inputs; fusing, by the tracking module, the plurality of objects; and generating, using the planning module, a further trajectory for the AV based on the fused plurality of objects and the trajectory generated by the end-to-end network.
Claims15
A computer-implemented method of generating a trajectory for an autonomous vehicle, AV, using an autonomy stack, the autonomy stack including an end-to-end network trained to generate a trajectory for the AV from sensor inputs, a tracking module and a planning module, the computer-implemented method comprising:
- receiving, by the tracking module, a plurality of objects identified based on sensor inputs;
- fusing, by the tracking module, the plurality of objects;
- and
- generating, using the planning module, a further trajectory for the AV based on the fused plurality of objects and the trajectory generated by the end-to-end network.
A computer-implemented method of training an end-to-end network of an autonomy stack of an AV to generate a trajectory for the AV from sensor inputs, the computer-implemented method comprising:
- generating a trajectory for the AV based on sensor inputs;
- labelling the trajectory and the sensor inputs used to generate the trajectory as paired data;
- and
- running the end-to-end network to generate the trajectory from the sensor inputs of the paired data;
- and
- modifying the end-to-end network to reduce an error between the trajectory generated by the end-to-end network and the trajectory of the paired data.
A transitory, or non-transitory, computer-readable medium having instructions stored thereon that when executed by a processor, cause the processor to perform a computer-implemented method comprising:
- receiving, by a tracking module, a plurality of objects identified based on sensor inputs;
- fusing, by the tracking module, the plurality of objects;
- and
- generating, using a planning module, a further trajectory for the AV based on the fused plurality of objects and the trajectory generated by an end-to-end network.
15-16. (canceled)
Dependencies are inferred from the claim text.