| CPC G05D 1/0221 (2013.01) [G05B 13/048 (2013.01); G05D 1/0088 (2013.01); G06N 20/00 (2019.01)] | 20 Claims |
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1. A system comprising:
a data processor;
a data collection system interface for receiving perception or sensor data collected from a data collection system, the perception or sensor data including data from at least one image generating device;
a memory for storage of a plurality of trained trajectory prediction models, the plurality of trained trajectory prediction models having been trained using real world training data and simulated driver behaviors;
a trajectory generation module, executable by the data processor, the trajectory generation module being configured to:
generate, by the data processor, a trajectory for an autonomous vehicle, the trajectory corresponding to the perception or sensor data and autonomous vehicle intention data;
execute, by the data processor, at least one of the plurality of trained trajectory prediction models to generate a distribution of predicted vehicle trajectories for each of a plurality of vehicles proximate to the autonomous vehicle based on the perception or sensor data and the autonomous vehicle intention data;
select, by the data processor, at least one predicted vehicle trajectory from the distribution for each proximate vehicle based on pre-defined criteria; and
modify, by the data processor, the trajectory for the autonomous vehicle to avoid the at least one predicted vehicle trajectory for each proximate vehicle; and
an autonomous vehicle control system for the autonomous vehicle configured to cause the autonomous vehicle to traverse the modified trajectory for the autonomous vehicle.
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