US 12,222,726 B2
Platform for path planning system development for automated driving system
Magnus Gyllenhammar, Pixbo (SE); Carl Zandén, Lindome (SE); and Majid Khorsand Vakilzadeh, Mölndal (SE)
Assigned to Zenseact AB, Gothenburg (SE)
Filed by Zenseact AB, Gothenburg (SE)
Filed on Apr. 26, 2022, as Appl. No. 17/729,447.
Claims priority of application No. 21171217 (EP), filed on Apr. 29, 2021.
Prior Publication US 2022/0350338 A1, Nov. 3, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0221 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0217 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method performed by an in-vehicle computing system for automated development of a path planning module of a vehicle, wherein the vehicle is equipped with an Automated Driving System, ADS, the method comprising:
obtaining a candidate path from the path planning module, wherein the path planning module is configured to generate the candidate path for the vehicle based on a path planning model and data indicative of the surrounding environment of the vehicle;
obtaining a reference framework for evaluating the candidate path, the reference framework being configured to indicate one or more risk values associated with the candidate path when the candidate path is applied in the reference framework;
evaluating the obtained candidate path by applying the candidate path in the reference framework in order to determine a cost function based on the one or more risk values, the cost function being indicative of a performance of the path planning module within the reference framework; and
updating one or more parameters of the path planning model by means of an optimization algorithm configured to optimize the determined cost function.