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公开(公告)号：US12091060B2
公开(公告)日：2024-09-17
申请号：US17444321
申请日：2021-08-03
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Roi Reshef , Zahy Bnaya , Vlad Goldner
CPC classification number: B60W60/007 , B60W50/0097 , B60W50/10 , B60W2520/10 , B60W2520/12 , B60W2540/215 , B60W2552/00 , B60W2552/30 , B60W2555/60
Abstract: Methods and systems are provided for controlling an autonomous vehicle. In one embodiment, a method includes: identifying, by a processor, at least one constraint on a longitudinal dimension of an upcoming road; defining, by the processor, constraint activation logic based on a type of the at least one constraint; performing, by the processor, the constraint activation logic to determine a state of the constraint to be at least one of active and inactive; when the state of the constraint is active, validating, by the processor, a motion plan of the autonomous vehicle based on the constraint; and selectively controlling the autonomous vehicle based on the validating of the motion plan.
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公开(公告)号：US11794780B2
公开(公告)日：2023-10-24
申请号：US17388509
申请日：2021-07-29
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef
CPC classification number: B60W60/0013 , B60W40/09 , G06N3/08 , H04W4/40 , B60W2040/0827 , B60W2040/0872 , B60W2540/229
Abstract: Examples described herein provide a computer-implemented method that includes receiving, by a processing device, a current state of a vehicle. The method further includes predicting, by the processing device using an output of an artificial intelligence model, a future state of the vehicle based at least in part on the current state of the vehicle. The method further includes calculating, by the processing device using a tunable reward function, a reward associated with the future state of the vehicle, the tunable reward function comprising multiple tunable coefficients. The method further includes training, by the processing device, the artificial intelligence model based at least in part on the reward.
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公开(公告)号：US20230035281A1
公开(公告)日：2023-02-02
申请号：US17388509
申请日：2021-07-29
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef
Abstract: Examples described herein provide a computer-implemented method that includes receiving, by a processing device, a current state of a vehicle. The method further includes predicting, by the processing device using an output of an artificial intelligence model, a future state of the vehicle based at least in part on the current state of the vehicle. The method further includes calculating, by the processing device using a tunable reward function, a reward associated with the future state of the vehicle, the tunable reward function comprising multiple tunable coefficients. The method further includes training, by the processing device, the artificial intelligence model based at least in part on the reward.
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公开(公告)号：US20220097727A1
公开(公告)日：2022-03-31
申请号：US17038063
申请日：2020-09-30
Applicant: GM Global Technology Operations LLC
Inventor： Roi Reshef
Abstract: Systems and methods to perform behavioral planning in an autonomous vehicle from a reference state involve generating a set of actions of a fixed size and fixed order according to a predefined methodology. Each action is a semantic instruction for a next motion of the vehicle. A set of trajectories is generated from the set of actions as an instruction indicating a path and a velocity profile to generate steering angles and accelerations for implementation by the vehicle. A trajectory filter is applied to filter the set of trajectories such that unfiltered trajectories are candidate trajectories. Applying the trajectory filter includes assessing the path and velocity profile indicated by each of the set of trajectories. A selected trajectory is used to control the vehicle or the action that corresponds to the selected trajectory is used in trajectory planning to generate a final trajectory that is used to control the vehicle.
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