US 12,012,121 B2
Method and system for data-driven and modular decision making and trajectory generation of an autonomous agent
Gautam Narang, Palo Alto, CA (US); Apeksha Kumavat, Palo Alto, CA (US); Arjun Narang, Palo Alto, CA (US); Kinh Tieu, Palo Alto, CA (US); Michael Smart, Palo Alto, CA (US); and Marko Ilievski, Palo Alto, CA (US)
Assigned to Gatik AI Inc., Mountain View, CA (US)
Filed by Gatik AI Inc., Palo Alto, CA (US)
Filed on Aug. 20, 2021, as Appl. No. 17/407,837.
Application 17/407,837 is a continuation of application No. 17/125,668, filed on Dec. 17, 2020, granted, now 11,124,204.
Claims priority of provisional application 63/055,763, filed on Jul. 23, 2020.
Claims priority of provisional application 63/035,401, filed on Jun. 5, 2020.
Prior Publication US 2021/0380133 A1, Dec. 9, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); G05B 13/02 (2006.01); G06N 3/045 (2023.01)
CPC B60W 60/0011 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); G05B 13/027 (2013.01); G06N 3/045 (2023.01); B60W 2420/408 (2024.01); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02); B60W 2555/60 (2020.02); B60W 2556/50 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A method for operating an autonomous agent, the method comprising:
with a first learned model, constraining a set of actions available to the autonomous agent to a single action;
with a rule and based on the single action, selecting a second learned model from a set of learned models;
with the second learned model, determining a trajectory for the autonomous agent; and
operating the autonomous agent based on the trajectory.