公开(公告)号：US20240042993A1

公开(公告)日：2024-02-08

申请号：US17970957

申请日：2022-10-21

Applicant: Motional AD LLC

Inventor： Shakiba Yaghoubi ,  Calin Belta ,  Noushin Mehdipour ,  Anne Collin ,  Radboud Duintjer Tebbens

IPC: B60W30/08 ,  B60W50/00

CPC classification number: B60W30/08 ,  B60W50/0097 ,  B60W2754/20 ,  B60W2554/20 ,  B60W60/001

Abstract: Provided are methods for trajectory generation based on a hierarchical plurality of rules using diverse trajectories, which can include generating a first set of trajectories for a vehicle from a first pose, identifying a first trajectory and a second trajectory from the first set of trajectories, generating a second set of trajectories for the vehicle from a second pose and a third set of trajectories for the vehicle from a third pose, identifying a third trajectory based at least in part on the second set of trajectories and the third set of trajectories, the third trajectory violating a first behavioral rule associated with a first priority that is less than a priority of behavioral rules violated by other trajectories, and determining a path for the vehicle based at least in part on the third trajectory. Systems and computer program products are also provided.

公开(公告)号：US20240059302A1

公开(公告)日：2024-02-22

申请号：US18071463

申请日：2022-11-29

Applicant: Motional AD LLC

Inventor： Shakiba Yaghoubi ,  Calin Belta ,  Noushin Mehdipour ,  Radboud Duintjer Tebbens

IPC: B60W50/06 ,  B60W60/00

CPC classification number: B60W50/06 ,  B60W60/0015 ,  B60W60/0011 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2554/408 ,  B60W2554/4046

Abstract: Provided are methods for testing of a control system of a vehicle using generated rulebook based scenarios, which can include determining a simulated environment, receiving a hierarchical plurality of autonomous vehicle rules, determining a trajectory of a simulated vehicle within the simulated environment, generating a plurality of simulated scenarios for the simulated vehicle, identifying at least one violation of at least one autonomous vehicle rule by the simulated vehicle in a set of the simulated scenarios, determining a scenario score for each simulated scenario based on the violations, and identifying at least one simulated scenario for a trained neural network of a vehicle based on the scenario scores.

公开(公告)号：US20230391367A1

公开(公告)日：2023-12-07

申请号：US17818861

申请日：2022-08-10

Applicant: Motional AD LLC

Inventor： Calin Belta ,  Cristhian Guillermo Lizarazo Jimenez ,  Anne Collin ,  Shakiba Yaghoubi ,  Noushin Mehdipour ,  Amitai Bin-Nun

IPC: B60W60/00 ,  G06N5/00

CPC classification number: B60W60/0015 ,  G06N5/003

Abstract: Provided are methods, systems, and computer program products for inferring and using vehicle trajectory standards. An example method may include: obtaining a training dataset associated with an autonomous vehicle action, the training dataset comprising trajectory data for a plurality of examples of the autonomous vehicle action and labels for each of the plurality of examples; generating a decision tree based on the trajectory data and the labels of the training dataset; determining a vehicle trajectory standard based on the decision tree; and communicating the vehicle trajectory standard to at least one autonomous vehicle, wherein the at least one autonomous vehicle uses the vehicle trajectory standard to select a vehicle trajectory for the at least one autonomous vehicle.