Method and system for behavioral cloning of autonomous driving policies for safe autonomous agents
US11628865B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 21, 2020 |
| Grant date | Apr 18, 2023 |
| Priority date | — |
| Expiry date | Jul 3, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2554/80
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for behavior cloned vehicle trajectory planning is described. The method includes perceiving vehicles proximate an ego vehicle in a driving environment, including a scalar confidence value of each perceived vehicle. The method also includes generating a bird's-eye-view (BEV) grid showing the ego vehicle and each perceived vehicle based on each of the scalar confidence values. The method further includes ignoring at least one of the perceived vehicles when the scalar confidence value of the at least one of the perceived vehicles is less than a predetermined value. The method also includes selecting an ego vehicle trajectory based on a cloned expert vehicle behavior policy according to remaining perceived vehicles.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.