US 12,466,442 B2
Systems and methods for including simulation noise in path planning
Markus Schiffer, Bellevue, WA (US); Alexandre Miranda Añon, Barcelona (ES); and Manish Saroya, Santa Clara, CA (US)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Apr. 21, 2023, as Appl. No. 18/304,914.
Prior Publication US 2024/0351614 A1, Oct. 24, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 50/02 (2012.01); B60W 50/00 (2006.01)
CPC B60W 60/0027 (2020.02) [B60W 50/0205 (2013.01); B60W 2050/0043 (2013.01); B60W 2554/40 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system for including simulation noise in path planning, comprising:
a memory storing instructions that when executed by a processor cause the processor to:
receive raw data regarding a raw simulation for an ego agent, wherein the raw simulation includes at least one dynamic object;
generate a noisy simulation by applying a first input noise of a plurality of input noises to the raw simulation, wherein the noisy simulation models uncertainty experienced by the ego agent in real-world environments;
predict one or more object trajectories for the at least one dynamic object based on previous dynamic object positions from previous time steps in the noisy simulation;
generate an ego trajectory for the ego agent in the noisy simulation based on the one or more object trajectories wherein the ego trajectory includes executable instructions for causing the ego agent to traverse a roadway configuration; and
cause the ego agent to execute the ego trajectory by providing operational data to agent systems of the ego agent.