CPC G05D 1/0088 (2013.01) [B60W 60/0011 (2020.02); G01C 21/3407 (2013.01); G01C 21/3691 (2013.01); G05D 1/0212 (2013.01); G06F 18/217 (2023.01); G06F 18/2148 (2023.01); G06F 18/2415 (2023.01); G06N 3/08 (2013.01); G06N 5/01 (2023.01); G06V 10/82 (2022.01); G06V 20/41 (2022.01); G06V 20/54 (2022.01); G06V 20/56 (2022.01); B60W 2552/00 (2020.02)] | 21 Claims |
15. A system, comprising:
at least one processor, and
at least one non-transitory storage media storing instructions that, when executed by the at least one processor, cause the at least one processor to:
augment a route planner of a first vehicle using predicted reasonableness scores for trajectories, wherein reasonableness scores are predicted by a trained machine learning model with parameters determined using a loss function that penalizes predictions of reasonableness scores that violate a rulebook structure;
plan trajectories in an environment using the augmented route planner;
identify at least one trajectory with inadequate performance by the augmented route planner based on a first metric associated with the predicted reasonableness scores; and
change parameters of the augmented route planner in response to the identified at least one trajectory.
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