Planning-aware prediction for control-aware autonomous driving modules
US12103564B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Jan 6, 2022 |
| Grant date | Oct 1, 2024 |
| Priority date | — |
| Expiry date | Jan 12, 2043 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2710/20
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method of generating an output trajectory of an ego vehicle includes recording trajectory data of the ego vehicle and pedestrian agents from a scene of a training environment of the ego vehicle. The method includes identifying at least one pedestrian agent from the pedestrian agents within the scene of the training environment of the ego vehicle causing a prediction-discrepancy by the ego vehicle greater than the pedestrian agents within the scene. The method includes updating parameters of a motion prediction model of the ego vehicle based on a magnitude of the prediction-discrepancy caused by the at least one pedestrian agent on the ego vehicle to form a trained, control-aware prediction objective model. The method includes selecting a vehicle control action of the ego vehicle in response to a predicted motion from the trained, control-aware prediction objective model regarding detected pedestrian agents within a traffic environment of the ego vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.