The invention relates to motion control decisions for autonomous vehicles. A vehicle behavior planner generates a plurality of conditional action sequences for the vehicle using a tree search algorithm and a heuristic method obtained from one or more machine learning models. Each sequence corresponds to a sequence of expected states of the vehicle. At least some of the sequence of actions are provided to a motion selector of the vehicle. The motion selector generates motion control instructions based on the received sequence of conditional actions and data received from one or more sensors of the vehicle and transmits the instructions to a control subsystem of the vehicle.
本公开涉及自主车辆的运动控制决策。车辆行为规划器使用树搜索算法和从一个或多个机器学习模型获得的启发法生成所述车辆的多个条件性动作序列。每个序列对应于所述车辆的预期状态序列。将所述动作序列中的至少一些提供给所述车辆的运动选择器。所述运动选择器基于所述收到的条件性动作序列以及从所述车辆的一个或多个传感器收到的数据生成运动控制指令,并且将所述指令传输到所述车辆的控制子系统。
Motion control decisions for autonomous vehicles
自主车辆的运动控制决策
2022-11-15
Patent
Electronic Resource
Chinese
IPC: | G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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