MACHINE-LEARNING BASED SYSTEM FOR PATH AND/OR MOTION PLANNING AND METHOD OF TRAINING THE SAME

• Main Authors: ROHANI, Mohsen, AMIRLOO ABOLFATHI, Elmira, KU, Jason Philip, LUO, Jun
• Format: Patent
• Language: English
• Published: 09.09.2021
• Subjects: CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

A system and method for path and/or motion planning and for training such a system are described. In one aspect, the method comprises generating a sequence of predicted occupancy grid maps (OGMs) for T-T1 time steps based on a sequence of OGMs for 0-T1 time steps, a reference map of an environment in which an autonomous vehicle is operating, and a trajectory. A cost volume is generated for the sequence of predicted OGMs. The cost volume comprises a plurality of cost maps for T-T1 time steps. Each cost map corresponds to a predicted OGM in the sequence of predicted OGMs and has the same dimensions as the corresponding predicted OGM. Each cost map comprises a plurality of cells.Each cell in the cost map represents a cost of the cell in corresponding predicted OGM being occupied in accordance with a policy defined by a policy function.