AUTONOMOUS BEHAVIOR CONTROL USING POLICY TRIGGERING AND EXECUTION
First Claim
1. A method of operating an autonomous vehicle, comprising:
- obtaining a route having a destination at the autonomous vehicle;
building a Markov state model of the route including a plurality of states for the autonomous vehicle;
generating a plurality of driving policies for navigating the route, wherein each driving policy includes a progression through the plurality of states;
selecting a policy for navigating the route from the plurality of driving policies using a Markov Decision Process; and
executing the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination.
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Abstract
A vehicle, system and method of operating the vehicle. In one exemplary embodiment, a method of operating an autonomous vehicle is disclosed. An environmental sensor obtains one or more parameters of external agents of the vehicle. A processor of the vehicle obtains a route having a destination at the autonomous vehicle, builds a Markov state model of the route that includes a plurality of states for the autonomous vehicle and one or more parameters of the external agents, generates a plurality of driving policies for navigating the route, selects a policy for navigating the route from the plurality of driving policies using a Markov Decision Process, and executes the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination.
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Citations
20 Claims
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1. A method of operating an autonomous vehicle, comprising:
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obtaining a route having a destination at the autonomous vehicle; building a Markov state model of the route including a plurality of states for the autonomous vehicle; generating a plurality of driving policies for navigating the route, wherein each driving policy includes a progression through the plurality of states; selecting a policy for navigating the route from the plurality of driving policies using a Markov Decision Process; and executing the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for operating an autonomous vehicle, comprising:
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an environmental sensor configured to obtain one or more parameters of external agents of the vehicle; and a processor configured to; obtain a route having a destination at the autonomous vehicle; build a Markov state model of the route that includes a plurality of states for the autonomous vehicle and the one or more parameters of the external agents; generate a plurality of driving policies for navigating the route, wherein each driving policy includes a progression through the plurality of states; select a policy for navigating the route from the plurality of driving policies using a Markov Decision Process; and execute the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An autonomous vehicle, comprising:
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an environmental sensor configured to obtain one or more parameters of external agents of the vehicle; and a processor configured to; obtain a route having a destination at the autonomous vehicle; build a Markov state model of the route that includes a plurality of states for the autonomous vehicle and the one or more parameters of the external agents; generate a plurality of driving policies for navigating the route, wherein each driving policy includes a progression through the plurality of states; select a policy for navigating the route from the plurality of driving policies using a Markov Decision Process; and execute the selected policy at the autonomous vehicle to navigate the vehicle along the route towards the destination. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification