Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining respective importance scores for a plurality of factors navigating through the vicinity of an autonomous vehicle of an environment. The respective importance score characterizes a relative effect of each factor on a planned trajectory generated by a planning subsystem of the autonomous vehicle. In one aspect, a method includes providing different states of an environment as inputs to a planning subsystem and obtaining respective planned trajectories from the planning subsystem as outputs. An importance score for one or more factors in one state but not in another state is determined based on a difference metric between the planned trajectories.
用于确定导航通过环境的自主载具附近的多个因素的各自重要性分数的方法、系统和装置,包括编码在计算机存储介质上的计算机程序。各自重要性分数表征每个因素对由自主载具的规划子系统生成的规划轨迹的相对影响。在一个方面中,一种方法包括将环境的不同状态作为输入提供给规划子系统,并作为输出从规划子系统获得相应规划轨迹。基于规划轨迹之间的差异度量来确定处于一种状态但不处于另一种状态的一个或多个因素的重要性分数。
Determining respective effects of factors
确定因素的各自影响
2022-04-08
Patent
Electronic Resource
Chinese
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |