| CPC B60W 60/0027 (2020.02) [B60W 60/0011 (2020.02); G05B 13/0265 (2013.01); G06N 20/00 (2019.01); B60W 2540/20 (2013.01); B60W 2554/4041 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving sensor data from a sensor associated with an autonomous vehicle;
determining, based at least in part on the sensor data and a first feature, a first heat map representative of a first set of costs for the autonomous vehicle to traverse an environment;
determining, based at least in part on the sensor data and a second feature, a second heat map representative of a second set of costs for the autonomous vehicle to traverse the environment;
aggregating, as a combined map and by a model, the first heat map and the second heat map;
determining, by the model and based at least in part on the combined map, first output data representing a planned trajectory usable to control the autonomous vehicle in the environment at a future time;
determining, by the model and based at least in part on the combined map, second output data indicating a reason for the model determining the first output data representing the planned trajectory;
controlling, based at least in part on the first output data, the autonomous vehicle in the environment relative to the first feature and the second feature; and
one or more of: transmitting the second output data to a remote computing device for training the model, logging the second output data, or causing a display device to display the second output data.
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