US 11,866,066 B2
Behavioral planning in autonomus vehicle
Roi Reshef, Herzliya (IL)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Sep. 30, 2020, as Appl. No. 17/038,063.
Prior Publication US 2022/0097727 A1, Mar. 31, 2022
Int. Cl. B60W 60/00 (2020.01); G06N 20/00 (2019.01); B60W 10/20 (2006.01); B60W 10/04 (2006.01); G01C 21/34 (2006.01); B60W 10/18 (2012.01)
CPC B60W 60/0011 (2020.02) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); G01C 21/3453 (2013.01); G06N 20/00 (2019.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2520/00 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method of performing behavioral planning in an autonomous vehicle from a reference state, including location and orientation, the method comprising:
generating a set of actions of a fixed size and fixed order according to a predefined methodology, each action in the set of actions being a semantic instruction for a next motion of the vehicle;
applying an action filter to filter the set of actions, wherein the applying the action filter includes identifying the semantic instructions among the set of actions that are not applicable based on the reference state of the vehicle such that all applicable actions of the set of actions are among the unfiltered actions;
generating a set of trajectories from the unfiltered actions in the set of actions, each trajectory in the set of trajectories being a vehicle-implementable instruction indicating a path and a velocity profile to a controller to generate steering angles and accelerations or decelerations to be implemented by the vehicle, wherein the applying the action filter is prior to the generating the set of trajectories such that the generating the set of trajectories includes generating a trajectory corresponding with each unfiltered action in the set of actions that is not filtered by the action filter; and
applying a trajectory filter to filter the set of trajectories such that unfiltered trajectories among the set of trajectories are a plurality of candidate trajectories, wherein the applying the trajectory filter includes masking rather than removing filtered trajectories among the set of trajectories such that the fixed size and the fixed order of the set of actions is maintained, the applying the trajectory filter including assessing the path and the velocity profile indicated by each of the set of trajectories, and selecting a trajectory among the plurality of candidate trajectories, the selected trajectory used to control the vehicle or the action among the set of actions that corresponds to the selected trajectory is used in trajectory planning to generate a final trajectory that is used to control the vehicle.