Methods and systems for training a motion planner for an autonomous vehicle are described. A trajectory evaluator agent of the motion planner receives state data defining a current state of the autonomous vehicle and an environment at a current time step. Based on the current state, a trajectory is selected. A reward is calculated based on performance of the selected trajectory in the current state. State data is received for a next state of the autonomous vehicle and the environment at a next time step. Parameters of the trajectory evaluator agent are updated based on the current state, selected trajectory, computed reward and next state. The parameters of the trajectory evaluator agent are updated to assign an evaluation value for the selected trajectory that reflects the calculated reward and expected performance of the selected trajectory in the future states.
Predictive motion planning system and method
2023-12-05
Patent
Elektronische Ressource
Englisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
Model Predictive Sample-based Motion Planning for Unmanned Aircraft Systems
BASE | 2021
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