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Suboptimal immediate navigational response based on long term planning

  • US 10,698,414 B2
  • Filed: 06/28/2018
  • Issued: 06/30/2020
  • Est. Priority Date: 01/05/2016
  • Status: Active Grant
First Claim
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1. A navigation system for a host vehicle, the system comprising:

  • at least one processing device programmed to;

    receive, from a camera, a plurality of images representative of an environment of the host vehicle;

    analyze the plurality of images to identify a present navigational state associated with the host vehicle;

    determine a first potential navigational action for the host vehicle based on the identified present navigational state;

    determine a first indicator of an expected reward based on the first potential navigational action and the identified present navigational state;

    predict a first future navigational state based on the first potential navigational action;

    determine a second indicator of an expected reward associated with at least one future action determined to be available to the host vehicle in response to the first future navigational state;

    determine a second potential navigational action for the host vehicle based on the identified present navigational state;

    determine a third indicator of an expected reward based on the second potential navigational action and the identified present navigational state;

    predict a second future navigational state based on the second potential navigational action;

    determine a fourth indicator of an expected reward associated with at least one future action determined to be available to the host vehicle in response to the second future navigational state;

    select the second potential navigational action based on a determination that the expected reward associated with the fourth indicator is greater than the expected reward associated with the second indicator; and

    cause at least one adjustment of a navigational actuator of the host vehicle in response to the selected second potential navigational action.

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