US 12,344,279 B2
Systems and methods for motion forecasting and planning for autonomous vehicles
Alexander Yuhao Cui, Toronto (CA); Abbas Sadat, Toronto (CA); Sergio Casas, Toronto (CA); Renjie Liao, Pittsburgh, PA (US); and Raquel Urtasun, Toronto (CA)
Assigned to AURORA OPERATIONS, INC., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on May 8, 2024, as Appl. No. 18/658,674.
Application 18/658,674 is a continuation of application No. 17/528,539, filed on Nov. 17, 2021, granted, now 12,037,025.
Claims priority of provisional application 63/114,790, filed on Nov. 17, 2020.
Prior Publication US 2024/0367688 A1, Nov. 7, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 40/00 (2006.01); B60W 40/04 (2006.01); G05B 13/02 (2006.01); G06N 3/045 (2023.01)
CPC B60W 60/0027 (2020.02) [B60W 40/04 (2013.01); G05B 13/027 (2013.01); G06N 3/045 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for motion forecasting and planning, the method comprising:
(a) determining a plurality of actors within an environment of an autonomous vehicle from sensor data descriptive of the environment;
(b) determining a plurality of future motion scenarios based on the sensor data, wherein determining the plurality of future motion scenarios comprises: (i) evaluating a diversity objective that rewards sampling of the plurality of future motion scenarios that require distinct reactions from the autonomous vehicle;
(c) determining an estimated probability for the plurality of future motion scenarios; and
(d) generating a contingency plan for motion of the autonomous vehicle, wherein the contingency plan comprises a plurality of trajectories associated with the plurality of future motion scenarios, and wherein the contingency plan is generated based on the plurality of future motion scenarios and the estimated probability for the plurality of future motion scenarios.