CPC G05D 1/0221 (2013.01) [B60W 40/04 (2013.01); G05D 1/0219 (2013.01); G05D 1/0274 (2013.01); G06N 3/08 (2013.01); B60W 2552/10 (2020.02); B60W 2555/60 (2020.02); G05D 2201/0213 (2013.01)] | 17 Claims |
1. A system for path planning with latent state inference and graphical relationships, the system comprising:
an inference module configured to:
receive sensor data associated with a plurality of agents, wherein the plurality of agents includes an ego agent; and
map the sensor data to a latent state distribution to identify latent states of the plurality of agents, wherein the latent states identify agents of the plurality of agents as cooperative or aggressive;
a policy module configured to predict future trajectories of the plurality of agents at a given time based on the sensor data and the latent states of the plurality of agents;
a graphical representation module configured generate a graphical representation based on the sensor data and a graphical representation neural network, wherein temporal information is applied to the sensor data so the graphical representation includes spatial-temporal relationships between the ego agent and the agents of the plurality of agents;
a planning module configured to generate a motion plan for the ego agent based on the predicted future trajectories and the graphical representation; and
an execution module configured to cause the ego agent to execute the motion plan.
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