US 12,221,130 B2
System for motion planning with natural language command interpretation
Alireza Esna Ashari Esfahani, Novi, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Jan. 5, 2023, as Appl. No. 18/150,365.
Prior Publication US 2024/0227845 A1, Jul. 11, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/02 (2006.01); G06F 40/30 (2020.01); G06V 20/58 (2022.01)
CPC B60W 60/001 (2020.02) [B60W 40/02 (2013.01); G06F 40/30 (2020.01); G06V 20/582 (2022.01); B60W 2540/21 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system for motion planning for a vehicle having an advanced driver assistance system which includes a processor and a memory, the memory including instructions such that the processor is programmed to:
receive, from sensors disposed on the vehicle, image data that includes text data related to an environment surrounding the vehicle;
analyze the text data representing a natural language command related to the environment of the vehicle to generate a rule with an associated condition criterion portion and a result portion;
determine, for each potential driving action of a set of potential driving actions of the vehicle, whether the potential driving action contradicts the result portion of the rule;
generate a driving action mask that includes, for each potential driving action of the set of potential driving actions of the vehicle, a corresponding mask parameter, wherein, if the potential driving action contradicts the result portion of the rule, then the corresponding mask parameter acts to decrease a probability of selection of that potential driving action in a motion planning decision;
evaluate the condition criterion portion to determine whether the mask is applicable;
if the mask is applicable, use the driving action mask to determine a motion planning decision for the vehicle; and
command the advanced driver assistance system to execute the motion planning decision to autonomously control the vehicle.