The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 01, 2024
Filed:
Jan. 06, 2022
Toyota Research Institute, Inc., Los Altos, CA (US);
The Regents of the University of California, Oakland, CA (US);
Rowan Thomas McAllister, Berkeley, CA (US);
Blake Warren Wulfe, San Francisco, CA (US);
Jean Mercat, Mountain View, CA (US);
Logan Michael Ellis, San Jose, CA (US);
Sergey Levine, Berkeley, CA (US);
Adrien David Gaidon, San Jose, CA (US);
TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US);
THE REGENTS OF THE UNIVERSITY OF CALIFORNIA, Oakland, CA (US);
Abstract
A method of generating an output trajectory of an ego vehicle includes recording trajectory data of the ego vehicle and pedestrian agents from a scene of a training environment of the ego vehicle. The method includes identifying at least one pedestrian agent from the pedestrian agents within the scene of the training environment of the ego vehicle causing a prediction-discrepancy by the ego vehicle greater than the pedestrian agents within the scene. The method includes updating parameters of a motion prediction model of the ego vehicle based on a magnitude of the prediction-discrepancy caused by the at least one pedestrian agent on the ego vehicle to form a trained, control-aware prediction objective model. The method includes selecting a vehicle control action of the ego vehicle in response to a predicted motion from the trained, control-aware prediction objective model regarding detected pedestrian agents within a traffic environment of the ego vehicle.