Trajectory generation for controlling motion or other behavior of an autonomous vehicle may include alternately determining a candidate action and predicting a future state based on that candidate action. The technique may include determining a cost associated with the candidate action that may include an estimation of a transition cost from a current or former state to a next state of the vehicle. This cost estimate may be a lower bound cost or an upper bound cost and the tree search may alternately apply the lower bound cost or upper bound cost exclusively or according to a ratio or changing ratio. The prediction of the future state may be based at least in part on a machine-learned model's classification of a dynamic object as being a reactive object or a passive object, which may change how the dynamic object is modeled for the prediction.
VEHICLE TRAJECTORY CONTROL USING A TREE SEARCH
2024-06-27
Patent
Electronic Resource
English
VEHICLE TRAJECTORY TREE SEARCH FOR OFF-ROUTE DRIVING MANEUVERS
European Patent Office | 2024
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