US 11,900,797 B2
Autonomous vehicle planning
Subramanian Ramamoorthy, Edinburgh (GB); Mihai Dobre, Edinburgh (GB); Roberto Antolin, Edinburgh (GB); Stefano Albrecht, Edinburgh (GB); Simon Lyons, Edinburgh (GB); Svetlin Valentinov Penkov, Edinburgh (GB); Morris Antonello, Edinburgh (GB); and Francisco Eiras, Edinburgh (GB)
Assigned to Five AI Limited, Cambridge (GB)
Appl. No. 17/285,277
Filed by Five AI Limited, Bristol (GB)
PCT Filed Oct. 16, 2019, PCT No. PCT/EP2019/078072
§ 371(c)(1), (2) Date Apr. 14, 2021,
PCT Pub. No. WO2020/079074, PCT Pub. Date Apr. 23, 2020.
Claims priority of application No. 1816850 (GB), filed on Oct. 16, 2018; application No. 1816852 (GB), filed on Oct. 16, 2018; and application No. 1816853 (GB), filed on Oct. 16, 2018.
Prior Publication US 2021/0370980 A1, Dec. 2, 2021
Int. Cl. G08G 1/01 (2006.01); B60W 60/00 (2020.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); G05B 13/02 (2006.01); G05B 13/04 (2006.01); G06T 7/20 (2017.01); H04N 7/18 (2006.01); G06V 20/54 (2022.01); G06F 18/24 (2023.01); G06F 18/214 (2023.01); G06F 18/20 (2023.01); G06N 3/045 (2023.01); G06V 10/84 (2022.01); G06V 20/56 (2022.01)
CPC G08G 1/0116 (2013.01) [B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/0013 (2020.02); B60W 60/0015 (2020.02); B60W 60/0027 (2020.02); G05B 13/027 (2013.01); G05B 13/04 (2013.01); G06F 18/214 (2023.01); G06F 18/24 (2023.01); G06F 18/295 (2023.01); G06N 3/045 (2023.01); G06T 7/20 (2013.01); G06V 10/84 (2022.01); G06V 20/54 (2022.01); G06V 20/56 (2022.01); H04N 7/183 (2013.01); B60W 2540/30 (2013.01); B60W 2554/4046 (2020.02); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30236 (2013.01); G06T 2207/30241 (2013.01)] 20 Claims
OG exemplary drawing
 
1. Non-transitory computer-readable media having embodied thereon computer-readable instructions configured to cause, when executed on one or more hardware processors, the one or more hardware processors to:
plan autonomous vehicle (AV) manoeuvers in an encountered driving scenario, by executing a tree search algorithm to determine a sequence of AV manoeuvres corresponding to a path through a constructed game tree;
wherein the constructed game tree has a plurality of nodes representing anticipated states of the encountered driving scenario, and the anticipated driving scenario state of each child node is determined by updating the driving scenario state of its parent node based on (i) a candidate AV manoeuvre and (ii) an anticipated behaviour of at least one external agent in the encountered driving scenario; and
wherein the anticipated behaviour of the external agent is simulated by applying an inverse planning method to one or more observed parameters of the external agent, wherein the inverse planning method comprises:
determining a set of available goals or manoeuvers for an external agent in the encountered driving scenario,
for each goal or manoeuver of the set of available goals or manoeuvers, determining an expected trajectory model,
comparing an observed trace of the external agent over a time interval with the expected trajectory model for each goal or manoeuver of the set of available goals or manoeuvers, to determine a likelihood of the goal or manoeuver, and
using the determined likelihood of at least one goal or manoeuver of the set of available goals or manoeuvers to simulate the anticipated behaviour of the external agent.