Autonomous vehicle action planning using behavior prediction

摘要

This application describes an automated driving system and methods. The automated driving system includes a perception system disposed on an autonomous vehicle. The automated driving system can detect, using the perception system, information for an environment proximate to the autonomous vehicle. The information for the environment includes current behavior of an object of interest and traffic density information. The automated driving system can also determine a classifier for the environment based on a prediction of future behavior of the object of interest. Based on the classifier, the automated driving system can identify a transition between vehicle states, the vehicle states being associated with a planned action for the autonomous vehicle. The automated driving system can also send a command to one or more vehicle systems to control the autonomous vehicle to execute the planned action according to the transition.

主权项

1. An automated driving system, comprising:
a perception system disposed on an autonomous vehicle; and a computing device in communication with the perception system, comprising:
one or more processors for controlling operations of the computing device; anda memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to:
detect, using the perception system, information for an environment proximate to the autonomous vehicle, the information including current behavior of an object of interest and traffic density information;determine a classifier for the environment based on a prediction of future behavior of the object of interest;based on the classifier, identify a transition between vehicle states, the vehicle states associated with a planned action for the autonomous vehicle; andsend a command to one or more vehicle systems to control the autonomous vehicle to execute the planned action according to the transition.