US 12,242,271 B2
System and method for providing multiple agents for decision making, trajectory planning, and control for autonomous vehicles
Xing Sun, San Diego, CA (US); Yufei Zhao, San Diego, CA (US); Wutu Lin, San Diego, CA (US); Zijie Xuan, San Diego, CA (US); Liu Liu, San Diego, CA (US); and Kai-Chieh Ma, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TuSimple, Inc., San Diego, CA (US)
Filed on Nov. 9, 2022, as Appl. No. 17/983,974.
Application 17/983,974 is a continuation of application No. 16/991,599, filed on Aug. 12, 2020, granted, now 11,500,387.
Application 16/991,599 is a continuation of application No. 15/721,781, filed on Sep. 30, 2017, granted, now 10,768,626, issued on Sep. 8, 2020.
Prior Publication US 2023/0063989 A1, Mar. 2, 2023
Int. Cl. G05D 1/02 (2020.01); B25J 9/16 (2006.01); B60W 30/00 (2006.01); G05D 1/00 (2024.01); G06F 9/00 (2018.01)
CPC G05D 1/0212 (2013.01) [B25J 9/1664 (2013.01); B60W 30/00 (2013.01); G05D 1/0088 (2013.01); G06F 9/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a data processor;
a memory for storing modules, executable by the data processor, the modules being data processing modules configured to perform autonomous vehicle control operations for an autonomous vehicle;
a decision making subsystem executable by the data processor, the decision making subsystem including a decision making deep computing agent and a decision making fast response agent;
a trajectory generation subsystem executable by the data processor, the trajectory generation subsystem including a trajectory generation deep computing agent and a trajectory generation fast response agent;
a deep computing vehicle control module executable by the data processor, the deep computing vehicle control module processing task requests from the decision making deep computing agent and the trajectory generation deep computing agent to produce an autonomous vehicle motion plan; and
a fast response vehicle control module executable by the data processor, the fast response vehicle control module processing task requests from the decision making fast response agent and the trajectory generation fast response agent to produce the autonomous vehicle motion plan, the fast response vehicle control module configured to preempt the deep computing vehicle control module;
the system being configured to use the autonomous vehicle motion plan to control movement of the autonomous vehicle.