Woven Planet North America, Inc.

Alexandr Lapin

Yan P Chang

Matthew Swaner Vitelli

In one embodiment, a computing system of a vehicle may receive vehicle driving data associated with a vehicle driving in an environment and detected environment data associated with the environment. The system may generate a reference trajectory of the vehicle driving in the environment based on the vehicle driving data. The system may determine driving constraints associated with the environment based on the detected environmental data. The system may generate a trajectory of the vehicle based on the driving constraints. The system may determine a difference in at least one parameter associated with the trajectory relative to at least one corresponding parameter associated with the reference trajectory. The system may adjust weight values associated with cost functions of the trajectory based on the difference between the at least one parameter associated with the trajectory and the corresponding parameter associated with the reference trajectory.

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Sunnyvale, CA, United States of America

Alexandr Lapin