Title:
AUTONOMOUS VEHICLE PLANNING
Document Type and Number:
WIPO Patent Application WO/2020/079074
Kind Code:
A3
Abstract:
An autonomous vehicle (AV) planning method comprises: receiving sensor inputs pertaining to an AV; processing the AV sensor inputs to determine an encountered driving scenario; in an AV planner, executing a tree search algorithm to determine a sequence of AV manoeuvres corresponding to a path through a constructed game tree; and generating AV control signals for executing the determined sequence of AV manoeuvres; wherein the game tree has a plurality of nodes representing anticipated states of the encountered driving scenario, and the anticipated driving scenario state of each child node is determined by updating the driving scenario state of its parent node based on (i) a candidate AV manoeuvre and (ii) an anticipated behaviour of at least one external agent in the encountered driving scenario.
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Inventors:
RAMAMOORTHY SUBRAMANIAN (GB)
DOBRE MIHAI (GB)
ANTOLIN ROBERTO (GB)
ALBRECHT STEFANO (GB)
LYONS SIMON (GB)
PENKOV SVET (GB)
ANTONELLO MORRIS (GB)
EIRAS FRANCISCO (GB)
DOBRE MIHAI (GB)
ANTOLIN ROBERTO (GB)
ALBRECHT STEFANO (GB)
LYONS SIMON (GB)
PENKOV SVET (GB)
ANTONELLO MORRIS (GB)
EIRAS FRANCISCO (GB)
Application Number:
PCT/EP2019/078072
Publication Date:
June 25, 2020
Filing Date:
October 16, 2019
Export Citation:
Assignee:
FIVE AI LTD (GB)
International Classes:
B60W40/04; B60W50/00; B60W60/00; G05D1/02; G06N3/00; G06N3/02; G06V10/84; G08G1/01; H02J3/14
Domestic Patent References:
WO2018162521A1 | 2018-09-13 | |||
WO2017138664A1 | 2017-08-17 |
Foreign References:
US20180089563A1 | 2018-03-29 | |||
US9187088B1 | 2015-11-17 |
Other References:
NACHIKET DEO ET AL: "How would surround vehicles move? A Unified Framework for Maneuver Classification and Motion Prediction", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 19 January 2018 (2018-01-19), XP081208159, DOI: 10.1109/TIV.2018.2804159
HOUENOU ADAM ET AL: "Vehicle trajectory prediction based on motion model and maneuver recognition", 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 3 November 2013 (2013-11-03), pages 4363 - 4369, XP032537623, ISSN: 2153-0858, [retrieved on 20131227], DOI: 10.1109/IROS.2013.6696982
HOUENOU ADAM ET AL: "Vehicle trajectory prediction based on motion model and maneuver recognition", 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 3 November 2013 (2013-11-03), pages 4363 - 4369, XP032537623, ISSN: 2153-0858, [retrieved on 20131227], DOI: 10.1109/IROS.2013.6696982
Attorney, Agent or Firm:
PAGE WHITE & FARRER (GB)
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