SYSTEM AND METHOD FOR MULTI-AGENT REINFORCEMENT LEARNING WITH PERIODIC PARAMETER SHARING

    公开(公告)号:US20200151564A1

    公开(公告)日:2020-05-14

    申请号:US16680395

    申请日:2019-11-11

    IPC分类号: G06N3/08 G06N3/04

    摘要: A system and method for multi-agent reinforcement learning with periodic parameter sharing that include inputting at least one occupancy grid to a convolutional neural network (CNN) and at least one vehicle dynamic parameter into a first fully connected layer and concatenating outputs of the CNN and the first fully connected layer. The system and method also include providing Q value estimates for agent actions based on processing of the concatenated outputs and choosing at least one autonomous action to be executed by at least one of: an ego agent and a target agent. The system and method further include processing a multi-agent policy that accounts for operation of the ego agent and the target agent with respect to one another within a multi-agent environment based on the at least one autonomous action to be executed by at least one of: the ego agent and the target agent.

    SYSTEMS AND METHODS FOR GENERATING INSTRUCTIONS FOR NAVIGATING INTERSECTIONS WITH AUTONOMOUS VEHICLES

    公开(公告)号:US20190339702A1

    公开(公告)日:2019-11-07

    申请号:US15968460

    申请日:2018-05-01

    IPC分类号: G05D1/02 G06N3/04 G05D1/00

    摘要: Systems and methods for generating instructions for a vehicle to navigate an unsignaled intersection are provided. The method may include: generating an expected return over a sequence of actions of the vehicle; determining an optimal policy by selecting an action with a maximum value for the vehicle; executing dynamic frame skipping to expedite learning a repeated action of the vehicle; prioritize an experience replay by utilizing an experience replay buffer to break correlations between sequential steps of the vehicle; generate a plurality of state-action representations based on at least one of the expected return, the optimal policy, the dynamic frame skipping, or the prioritized experience replay; generate the instructions for navigating the unsignaled intersection based on the plurality of state-action representations; and transmit the instructions for navigating the unsignaled intersection to the vehicle such that the vehicle executes the instructions to navigate the unsignaled intersection.

    Sign based localization
    4.
    发明授权

    公开(公告)号:US10395126B2

    公开(公告)日:2019-08-27

    申请号:US14822951

    申请日:2015-08-11

    摘要: Systems and techniques for sign based localization are provided herein. Sign based localization may be achieved by capturing an image of an operating environment around a vehicle, extracting one or more text candidates from the image, detecting one or more line segments within the image, defining one or more quadrilateral candidates based on one or more of the text candidates, one or more of the line segments, and one or more intersections of respective line segments, determining one or more sign candidates for the image based on one or more of the quadrilateral candidates and one or more of the text candidates, matching one or more of the sign candidates against one or more reference images, and determining a location of the vehicle based on a match between one or more of the sign candidates and one or more of the reference images.

    3-DIMENSIONAL (3-D) NAVIGATION
    5.
    发明申请
    3-DIMENSIONAL (3-D) NAVIGATION 审中-公开
    三维(3-D)导航

    公开(公告)号:US20160054563A9

    公开(公告)日:2016-02-25

    申请号:US14041614

    申请日:2013-09-30

    IPC分类号: G02B27/01

    摘要: One or more embodiments of techniques or systems for 3-dimensional (3-D) navigation are provided herein. A heads-up display (HUD) component can project graphic elements on focal planes around an environment surrounding a vehicle. The HUD component can cause these graphic elements to appear volumetric or 3-D by moving or adjusting a distance between a focal plane and the vehicle. Additionally, a target position for graphic elements can be adjusted. This enables the HUD component to project graphic elements as moving avatars. In other words, adjusting the focal plane distance and the target position enables graphic elements to be projected in three dimensions along an x, y, and z axis. Further, a moving avatar can be ‘animated’ by sequentially projecting the avatar on different focal planes, thereby providing an occupant with the perception that the avatar is moving towards or away from the vehicle.

    摘要翻译: 本文提供了用于三维(3-D)导航的技术或系统的一个或多个实施例。 平视显示器(HUD)组件可以围绕车辆周围的环境在焦平面上投影图形元素。 HUD组件可以通过移动或调整焦平面和车辆之间的距离来使这些图形元素显示为体积或3-D。 此外,可以调整图形元素的目标位置。 这使得HUD组件可以将图形元素投影为移动头像。 换句话说,调整焦平面距离和目标位置可使图形元素沿x,y和z轴三维投影。 此外,可以通过在不同的焦平面上顺序地投影化身,从而为乘客提供头像朝向或远离车辆移动的感觉,可以“移动”动画。

    Probabilistic-based lane-change decision making and motion planning system and method thereof

    公开(公告)号:US11608067B2

    公开(公告)日:2023-03-21

    申请号:US17018168

    申请日:2020-09-11

    IPC分类号: B60W30/18 B60W40/06 B60W30/12

    摘要: A system and method for providing probabilistic-based lane-change decision making and motion planning that include receiving data associated with a roadway environment of an ego vehicle. The system and method also include performing gap analysis to determine at least one gap between neighboring vehicles that are traveling within the target lane to filter out an optimal merging entrance for the ego vehicle to merge into the target lane and determining a probability value associated with an intention of a driver of a following neighboring vehicle to yield to allow the ego vehicle to merge into the target lane. The system and method further include controlling the ego vehicle to autonomously continue traveling within the current lane or autonomously merge from current lane to the target lane based on at least one of: if the optimal merging entrance is filtered out and if the probability value indicates an intention of the driver to yield.

    Systems and methods for generating instructions for navigating intersections with autonomous vehicles

    公开(公告)号:US11480971B2

    公开(公告)日:2022-10-25

    申请号:US15968460

    申请日:2018-05-01

    IPC分类号: G05D1/02 G05D1/00 G06N3/04

    摘要: Systems and methods for generating instructions for a vehicle to navigate an unsignaled intersection are provided. The method may include: generating an expected return over a sequence of actions of the vehicle; determining an optimal policy by selecting an action with a maximum value for the vehicle; executing dynamic frame skipping to expedite learning a repeated action of the vehicle; prioritize an experience replay by utilizing an experience replay buffer to break correlations between sequential steps of the vehicle; generate a plurality of state-action representations based on at least one of the expected return, the optimal policy, the dynamic frame skipping, or the prioritized experience replay; generate the instructions for navigating the unsignaled intersection based on the plurality of state-action representations; and transmit the instructions for navigating the unsignaled intersection to the vehicle such that the vehicle executes the instructions to navigate the unsignaled intersection.

    Reinforcement learning with scene decomposition for navigating complex environments

    公开(公告)号:US11242050B2

    公开(公告)日:2022-02-08

    申请号:US16425482

    申请日:2019-05-29

    摘要: Systems and methods for providing navigation to a vehicle may include receiving observation data from one or more sensors of the vehicle, generating projection data corresponding to the one or more traffic participants based on the observation data for each time step within a time period, and predicting interactions between the vehicle, the one or more traffic participants, and the one or more obstacles, based on the projection data of the one or more traffic participants. The systems and methods may further include determining a set of actions by the vehicle corresponding to a probability of the vehicle safely arriving at a target location based on the predicted interactions, and selecting one or more actions from the set of actions and provide the one or more actions to a navigation system of the vehicle, wherein the navigation system uses the navigation data to provide navigation instructions to the vehicle.

    System and method for providing autonomous vehicular navigation within a crowded environment

    公开(公告)号:US11209820B2

    公开(公告)日:2021-12-28

    申请号:US16190345

    申请日:2018-11-14

    IPC分类号: G05D1/00 G05D1/02 G06N3/08

    摘要: A system and method for providing autonomous vehicular navigation within a crowded environment that include receiving data associated with an environment in which an ego vehicle and a target vehicle are traveling. The system and method also include determining an action space based on the data associated with the environment. The system and method additionally include executing a stochastic game associated with navigation of the ego vehicle and the target vehicle within the action space. The system and method further include controlling at least one of the ego vehicle and the target vehicle to navigate in the crowded environment based on execution of the stochastic game.