A path planning approach based on semi-supervised learning including a trained encoder-decoder type of deep neural network to generate and plan paths with the objective to minimize the off-track of the tractor-trailer swept area. The encoder encodes input information such as lane markings, static obstacles, and potentially other features, and pass it to the decoder to generate a planned path. A path cost function scores and penalizes each network-generated path based on its deviation from the lane center, the path smoothness and collision with any static obstacles, and backpropagates the cost of the paths through the encoder-decoder network to train it. As the path cost function acts as a critic of the path quality, no collected data from expert driving for training is required, but only randomly generated samples of many possible combinations of lane shapes and obstacles arrangements.
A LEARNING-BASED METHOD AND SYSTEM FOR PATH PLANNING OF AN AUTONOMOUS TRACTOR-TRAILER
LERNBASIERTES VERFAHREN UND SYSTEM ZUR WEGPLANUNG EINES AUTONOMEN TRAKTORANHÄNGERS
PROCÉDÉ ET SYSTÈME BASÉS SUR L'APPRENTISSAGE POUR LA PLANIFICATION DE TRAJET D'UN SEMI-REMORQUE AUTONOME
2025-02-05
Patent
Electronic Resource
English
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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