Systems and Methods to Control Autonomous Vehicle Motion
First Claim
1. A computer-implemented method to control motion of an autonomous vehicle, the method comprising:
- obtaining, by one or more computing devices, a candidate motion plan that describes a proposed motion path for the autonomous vehicle;
identifying, by the one or more computing devices, a nominal pathway associated with the autonomous vehicle;
projecting, by the one or more computing devices, the candidate motion plan onto the nominal pathway to determine a projected distance for the candidate motion plan; and
controlling, by the one or more computing devices, motion of the autonomous vehicle based at least in part on the projected distance of the candidate motion plan.
3 Assignments
0 Petitions
Accused Products
Abstract
The present disclosure provides systems and methods that control the motion of an autonomous vehicle by rewarding or otherwise encouraging progress toward a goal, rather than simply rewarding distance travelled. In particular, the systems and methods of the present disclosure can project a candidate motion plan that describes a proposed motion path for the autonomous vehicle onto a nominal pathway to determine a projected distance associated with the candidate motion plan. The systems and methods of the present disclosure can use the projected distance to evaluate a reward function that provides a reward that is positively correlated to the magnitude of the projected distance. The motion of the vehicle can be controlled based on the reward value provided by the reward function. For example, the candidate motion plan can be selected for implementation or revised based at least in part on the determined reward value.
8 Citations
20 Claims
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1. A computer-implemented method to control motion of an autonomous vehicle, the method comprising:
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obtaining, by one or more computing devices, a candidate motion plan that describes a proposed motion path for the autonomous vehicle; identifying, by the one or more computing devices, a nominal pathway associated with the autonomous vehicle; projecting, by the one or more computing devices, the candidate motion plan onto the nominal pathway to determine a projected distance for the candidate motion plan; and controlling, by the one or more computing devices, motion of the autonomous vehicle based at least in part on the projected distance of the candidate motion plan. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer system, comprising:
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one or more processors; and one or more tangible, non-transitory, computer readable media that collectively store instructions that, when executed by the one or more processors, cause the computer system to perform operations, the operations comprising; obtaining a candidate motion plan that describes a proposed motion path for an autonomous vehicle; identifying a nominal pathway associated with the autonomous vehicle; projecting the candidate motion plan onto the nominal pathway to determine a projected distance for the candidate motion plan; and controlling motion of the autonomous vehicle based at least in part on the projected distance of the candidate motion plan. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. An autonomous vehicle, comprising:
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one or more processors; a motion planning system implemented by the one or more processors, the motion planning system comprising an optimization planner that searches a motion planning space to optimize a total cost associated with a motion plan, the total cost based at least in part on one or more cost functions and a reward function that provides a reward that is positively correlated to a projected distance associated with the motion plan; and one or more tangible, non-transitory, computer-readable media that store instructions that, when executed by the one or more processors, cause the one or more processors perform operations, the operations comprising; obtaining a candidate motion plan that describes a proposed motion path for an autonomous vehicle; identifying a nominal pathway associated with the autonomous vehicle; and projecting the candidate motion plan onto the nominal pathway to determine a projected distance for the candidate motion plan. - View Dependent Claims (18, 19, 20)
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Specification