US 12,110,042 B1
Systems and methods for generating physically realistic trajectories
Anh Tuan Hoang, Jersey City, NJ (US); Harshayu Girase, Union City, CA (US); Sai Bhargav Yalamanchi, Mountain View, CA (US); and Micol Marchetti-Bowick, Pittsburgh, PA (US)
Assigned to AURORA OPERATIONS, INC., Pittsburgh, PA (US)
Filed by Aurora Operations, Inc., Pittsburgh, PA (US)
Filed on Oct. 14, 2021, as Appl. No. 17/501,480.
Claims priority of provisional application 63/091,404, filed on Oct. 14, 2020.
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); B60W 50/06 (2006.01); G06N 3/044 (2023.01); G06N 3/045 (2023.01)
CPC B60W 60/00274 (2020.02) [B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 50/06 (2013.01); B60W 60/0011 (2020.02); G06N 3/044 (2023.01); G06N 3/045 (2023.01); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
(a) obtaining data indicative of an object within an environment of an autonomous vehicle;
(b) determining, using one or more machine-learned models, a plurality of motion goal paths for the object based at least in part on the data indicative of the object within the environment of the autonomous vehicle, wherein a respective motion goal path comprises a plurality of waypoints for the object;
(c) determining a plurality of acceleration profiles based on the plurality of motion goal paths for the object;
(d) determining, using a path tracking algorithm, a plurality of predicted motion trajectories of the object based on the plurality of acceleration profiles,
wherein a respective predicted motion trajectory of the object comprises a spatial-temporal trajectory that comprises a plurality of future predicted positions of the object at a plurality of respective future timesteps;
(e) determining a motion plan of the autonomous vehicle based on at least one of the predicted motion trajectories of the object, wherein the motion plan is indicative of a motion trajectory of the autonomous vehicle; and
(f) initiating a motion control of the autonomous vehicle based on the motion plan.