VEHICLE TRAJECTORY CONTROL USING A TREE SEARCH

• Main Authors: CALDWELL, Timothy, FONSECA, Rasmus, HUANG, Xianan, MA, Lichao, PARK, Chonhyon, PENG, Cheng, VAN HEUKELOM, Matthew, KOBILAROV, Marin, HOUSHMAND, Arian
• Format: Patent
• Language: English; French; German
• Published: 12.06.2024
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

Trajectory generation for controlling motion or other behavior of an autonomous vehicle may include alternately determining a candidate action and predicting a future state based on that candidate action. The technique may include determining a cost associated with the candidate action that may include an estimation of a transition cost from a current or former state to a next state of the vehicle. This cost estimate may be a lower bound cost or an upper bound cost and the tree search may alternately apply the lower bound cost or upper bound cost exclusively or according to a ratio or changing ratio. The prediction of the future state may be based at least in part on a machine-learned model's classification of a dynamic object as being a reactive object or a passive object, which may change how the dynamic object is modeled for the prediction.