PROBABILISTIC AUTONOMOUS VEHICLE ROUTING AND NAVIGATION
First Claim
1. An autonomous vehicle comprising:
- a processor configured to execute instructions stored on a non-transitory computer readable medium to;
identify transportation network information, the transportation network information including road segment information representing a plurality of road segments, the road segment information including lane information representing at least one lane for each respective road segment, the lane information including waypoint information representing at least one waypoint for each respective lane,identify an origin,identify a destination,generate a plurality of candidate routes from the origin to the destination based on the transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes,for at least one candidate route from the plurality of candidate routes;
identify a first routing state, the first routing state including an indication of a first road segment, an indication of a first lane associated with the first road segment, and an indication of a first waypoint associated with the first lane;
identify a second routing state, the second routing state including an indication of a second road segment, an indication of a second lane associated with the second road segment, and an indication of a second waypoint associated with the second lane, such that the second waypoint is immediately adjacent to the first waypoint;
generate an action cost probability distribution including a plurality of action cost probabilities, each action cost probability from the plurality of action cost probabilities representing a probable cost of transitioning from the first routing state to the second routing state; and
generate a route cost probability distribution based at least in part on the action cost probability distribution, the route cost probability distribution including a plurality of route cost probabilities, each route cost probability from the plurality of route cost probabilities representing a probable cost of traveling from the origin to the destination using the candidate route,identify an optimal route from the plurality of candidate routes based at least in part on the route cost probability distribution, the optimal route having a minimal probable route cost; and
a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the destination using the optimal route.
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Abstract
A method and apparatus for probabilistic autonomous vehicle routing and navigation are disclosed. Probabilistic autonomous vehicle routing and navigation may include an autonomous vehicle identifying transportation network information, identifying an origin, identifying a destination, generating a plurality of candidate routes from the origin to the destination based on the transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes, generating an action cost probability distribution for each action in each candidate route, generating a route cost probability distribution based at least in part on the action cost probability distribution, identify an optimal route from the plurality of candidate routes based at least in part on the route cost probability distribution, and operate the autonomous vehicle to travel from the origin to the destination using the optimal route.
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Citations
20 Claims
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1. An autonomous vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify transportation network information, the transportation network information including road segment information representing a plurality of road segments, the road segment information including lane information representing at least one lane for each respective road segment, the lane information including waypoint information representing at least one waypoint for each respective lane, identify an origin, identify a destination, generate a plurality of candidate routes from the origin to the destination based on the transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes, for at least one candidate route from the plurality of candidate routes; identify a first routing state, the first routing state including an indication of a first road segment, an indication of a first lane associated with the first road segment, and an indication of a first waypoint associated with the first lane; identify a second routing state, the second routing state including an indication of a second road segment, an indication of a second lane associated with the second road segment, and an indication of a second waypoint associated with the second lane, such that the second waypoint is immediately adjacent to the first waypoint; generate an action cost probability distribution including a plurality of action cost probabilities, each action cost probability from the plurality of action cost probabilities representing a probable cost of transitioning from the first routing state to the second routing state; and generate a route cost probability distribution based at least in part on the action cost probability distribution, the route cost probability distribution including a plurality of route cost probabilities, each route cost probability from the plurality of route cost probabilities representing a probable cost of traveling from the origin to the destination using the candidate route, identify an optimal route from the plurality of candidate routes based at least in part on the route cost probability distribution, the optimal route having a minimal probable route cost; and a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the destination using the optimal route. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An autonomous vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify transportation network information, the transportation network information including road segment information representing a plurality of road segments, the road segment information including lane information representing at least one lane for each respective road segment, the lane information including waypoint information representing at least one waypoint for each respective lane, identify an origin, identify a destination, generate a plurality of candidate routes from the origin to the destination based on the transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes, for at least one candidate route from the plurality of candidate routes; identify a first routing state, the first routing state including an indication of a first road segment, an indication of a first lane associated with the first road segment, and an indication of a first waypoint associated with the first lane; identify a second routing state, the second routing state including an indication of a second road segment, an indication of a second lane associated with the second road segment, and an indication of a second waypoint associated with the second lane, such that the second waypoint is immediately adjacent to the first waypoint; generate an action cost probability distribution including a plurality of action cost probabilities, each action cost probability from the plurality of action cost probabilities representing a probable cost of transitioning from the first routing state to the second routing state; and generate a route cost probability distribution based at least in part on the action cost probability distribution, the route cost probability distribution including a plurality of route cost probabilities, each route cost probability from the plurality of route cost probabilities representing a probable cost of traveling from the origin to the destination using the candidate route, identify an optimal route from the plurality of candidate routes based at least in part on the route cost probability distribution, the optimal route having a minimal probable route cost; receive, from an off-vehicle sensor, current transportation network state information indicating a state of at least a portion of at least one road segment from the plurality of road segments; generate an updated action cost probability distribution including at least one updated action cost probability representing an updated probable cost of transitioning from the first routing state to the second routing state; identify an updated optimal route based on the updated action cost probability distribution; and a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the destination using at least a portion of the optimal route and at least a portion of the updated optimal route. - View Dependent Claims (20)
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Specification