A method for behavior cloned vehicle trajectory planning is described. The method includes perceiving vehicles proximate an ego vehicle in a driving environment, including a scalar confidence value of each perceived vehicle. The method also includes generating a bird's-eye-view (BEV) grid showing the ego vehicle and each perceived vehicle based on each of the scalar confidence values. The method further includes ignoring at least one of the perceived vehicles when the scalar confidence value of the at least one of the perceived vehicles is less than a predetermined value. The method also includes selecting an ego vehicle trajectory based on a cloned expert vehicle behavior policy according to remaining perceived vehicles.
Method and system for behavioral cloning of autonomous driving policies for safe autonomous agents
2023-04-18
Patent
Electronic Resource
English
IPC: | 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |
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