| CPC G05D 1/0221 (2013.01) [B62D 15/026 (2013.01); B62D 15/0255 (2013.01); B62D 15/0265 (2013.01); G05D 1/0088 (2013.01)] | 20 Claims |
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1. A system comprising:
a data processor; and
a trajectory planning module, executable by the data processor, configured to:
generate a first suggested trajectory for an autonomous vehicle, the first suggested trajectory configured to comply with pre-defined goals for the autonomous vehicle;
generate a first distribution of predicted resulting trajectories for each of proximate agents using a prediction module configured to generate a first output in response to receiving the first suggested trajectory as an input, the first distributions of predicted resulting trajectories being reactions to the first suggested trajectory of the autonomous vehicle and generated based on the output of the prediction module fed back to the trajectory planning module, wherein the proximate agents are vehicles in the vicinity of the autonomous vehicle, wherein the first distribution of predicted resulting trajectories includes a first set of predicted trajectories with first probability values obtained based on the first suggested trajectory, wherein each of predicted trajectories in the first distribution has a corresponding first probability value obtained based on the first suggested trajectory;
score the first suggested trajectory based on each corresponding first probability value and determine whether a score corresponding to a highest first probability value of the first probability values complies with the pre-defined goals of the autonomous vehicle;
generate a second suggested trajectory for the autonomous vehicle upon determination that the score for the first suggested trajectory corresponding to the highest first probability value is below a minimum acceptable threshold, or
cause a vehicle control subsystem of the autonomous vehicle to manipulate the autonomous vehicle to follow the first suggested trajectory, upon determination that the score for the first suggested trajectory corresponding to the highest first probability value is at or above the minimum acceptable threshold;
generate, upon determination that the score for the first suggested trajectory corresponding to the highest first probability value is below the minimum acceptable threshold, an updated first distribution of the predicted resulting trajectories for each of proximate agents using the prediction module configured to generate a second output in response to receiving the second suggested trajectory as an input, the updated first distribution of the predicted resulting trajectories being reactions to the second suggested trajectory of the autonomous vehicle and generated based on the second output of the prediction module fed back to the trajectory planning module, wherein the updated first distribution of the predicted resulting trajectories includes the first set of predicted trajectories with second probability values obtained based on the second suggested trajectory, wherein each of the predicted trajectories in the updated first distribution has a corresponding second probability value obtained based on the second suggested trajectory; and
cause the vehicle control subsystem of the autonomous vehicle to manipulate the autonomous vehicle to follow the second suggested trajectory, upon determination that any of the second probability values is higher than the highest first probability value.
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