Uatc, LLC

Uber Technologies, Inc.

Vijay Subramanian

David McAllister Bradley

Colin Jeffrey Green

Wei Liu

Michael Lee Phillips

Moslem Kazemi

Systems and methods for autonomous vehicle motion planning are provided. Sensor data describing an environment of an autonomous vehicle and an initial travel path for the autonomous vehicle through the environment can be obtained. A number of trajectories for the autonomous vehicle are generated based on the sensor data and the initial travel path. The trajectories can be evaluated by generating a number of costs for each trajectory. The costs can include a safety cost and a total cost. Each cost is generated by a cost function created in accordance with a number of relational propositions defining desired relationships between the number of costs. A subset of trajectories can be determined from the trajectories based on the safety cost and an optimal trajectory can be determined from the subset of trajectories based on the total cost. The autonomous vehicle can control its motion in accordance with the optimal trajectory.

Systems and methods for costing autonomous vehicle maneuvers

The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a machine-learned yield model. In particular, the machine-learned yield model can be trained or otherwise configured to receive and process feature data descriptive of objects perceived by the autonomous vehicle and/or the surrounding environment and, in response to receipt of the feature data, provide yield decisions for the autonomous vehicle relative to the objects. For example, a yield decision for a first object can describe a yield behavior for the autonomous vehicle relative to the first object (e.g., yield to the first object or do not yield to the first object). Example objects include traffic signals, additional vehicles, or other objects. The motion of the autonomous vehicle can be controlled in accordance with the yield decisions provided by the machine-learned yield model.

Autonomous vehicles featuring machine-learned yield model

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Canonsburg, PA, United States of America

Vijay Subramanian