| CPC B60W 30/0956 (2013.01) [B60W 2555/60 (2020.02)] | 20 Claims |
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1. A vehicle comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
receiving a vehicle trajectory associated with controlling the vehicle in an environment including the vehicle and a dynamic object different from the vehicle, wherein the vehicle trajectory comprises a plurality of trajectory points;
determining, for a trajectory point of the plurality of trajectory points, vector representative of a vehicle state value associated with the trajectory point;
perturbing the vector into a perturbed vector, the perturbed vector representing a portion of a perturbed vehicle trajectory associated with the vehicle;
determining, based at least in part on the perturbed vehicle trajectory, a kino-dynamically feasible perturbed trajectory for the vehicle;
inputting the kino-dynamically feasible perturbed trajectory and a representation of the environment into a machine-learned model;
receiving, from the machine-learned model, a predicted object trajectory for the dynamic object;
determining, based at least in part on the kino-dynamically feasible perturbed trajectory for the vehicle and the predicted object trajectory, a cost associated with the kino-dynamically feasible perturbed trajectory;
determining the kino-dynamically feasible perturbed trajectory as a control trajectory for the vehicle, based at least in part on the cost; and
controlling the vehicle in the environment, based at least in part on the control trajectory.
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