SYSTEM AND METHOD FOR DETERMINING A TRAJECTORY FOR A VEHICLE
Described herein are systems and methods for determining a trajectory for a vehicle. In one example, a system includes a processor and a memory in communication with the processor having a planning module. The planning module includes instructions that, when executed by the processor, cause the processor to determine, using a unified neural network based on input information, ego vehicle future trajectories of the ego vehicle and agent future trajectories of one or more agents, select one of the ego vehicle future trajectories as a selected trajectory based on the ego vehicle future trajectories and agent future trajectories using a cost function, and cause the ego vehicle to execute the selected trajectory.
1 . A system for determining a planning trajectory for an ego vehicle, the system comprising:
a processor; and
a memory in communication with the processor, the memory having a planning module including instructions that, when executed by the processor, cause the processor to:
determine, using a unified neural network based on input information, ego vehicle future trajectories of the ego vehicle and agent future trajectories of one or more agents, wherein the ego vehicle future trajectories and the agent future trajectories have probability distributions,
select one of the ego vehicle future trajectories as a selected trajectory based on the ego vehicle future trajectories and agent future trajectories using a cost function, and
cause the ego vehicle to execute the selected trajectory.
2 . The system of claim 1 , wherein:
the input information includes map information, ego vehicle information, and agent information;
the map information includes road layout information;
the ego vehicle information includes at least one of pose, speed, acceleration, size, and moving history of the ego vehicle for a defined time period; and
the agent information includes at least one of pose, size, vehicle type for the current frame, and moving history of the one or more agents for a defined time period.
3 . The system of claim 1 , wherein the planning module further includes instructions that, when executed by the processor, cause the processor to:
perform a collision check between the ego vehicle future trajectories and predicted agent future locations to determine the ego vehicle future trajectories that at least one of collision-free or collision-probable in a predicted horizon; and
select one of the ego vehicle future trajectories as the selected trajectory that is either collision-free or collision-probable in the predicted horizon.
4 . The system of claim 3 , wherein the planning module further includes instructions that, when executed by the processor, cause the processor to extend a cost output by the cost function by adding a collision cost for any potential collision of the ego vehicle with the one or more agents based on the ego vehicle future trajectories and the predicted agent future locations.
5 . The system of claim 1 , wherein the unified neural network comprises an element-wise point encoder and a transformer.
6 . The system of claim 1 , wherein the unified neural network further comprises an agent feed-forward network and an ego vehicle feed-forward network, wherein the ego vehicle feed-forward network predicts the ego vehicle future trajectories and associated ego vehicle probability distributions, and the agent feed-forward network predicts the agent future trajectories and associated agent probability distributions.
7 . The system of claim 1 , wherein the unified neural network is trained using an imitation learning methodology or other suitable methodology.
8 . A method for determining a planning trajectory for an ego vehicle, the method comprising the steps of:
determining, using a unified neural network based on input information, ego vehicle future trajectories of the ego vehicle and agent future trajectories of one or more agents, wherein the ego vehicle future trajectories and the agent future trajectories have probability distributions;
selecting one of the ego vehicle future trajectories as a selected trajectory based on the ego vehicle future trajectories and agent future trajectories using a cost function; and
causing the ego vehicle to execute the selected trajectory.
9 . The method of claim 8 , wherein:
the input information includes map information, ego vehicle information, and agent information;
the map information includes road layout information;
the ego vehicle information includes at least one of pose, speed, acceleration, size, and moving history of the ego vehicle for a defined time period; and
the agent information includes at least one of pose, size, vehicle type for the current frame, and moving history of the one or more agents for a defined time period.
10 . The method of claim 8 , further comprising steps of:
performing a collision check between the ego vehicle future trajectories and predicted agent future locations to determine the ego vehicle future trajectories that at least one of collision-free or collision-probable in a predicted horizon; and
selecting one of the ego vehicle future trajectories as the selected trajectory that is either collision-free or collision-probable in the predicted horizon.
11 . The method of claim 10 , further comprising the step of extending a cost output by the cost function by adding a collision cost for any potential collision of the ego vehicle with the one or more agents based on the ego vehicle future trajectories and the predicted agent future locations.
12 . The method of claim 8 , wherein the unified neural network comprises an element-wise point encoder and a transformer.
13 . The method of claim 8 , wherein the unified neural network further comprises an agent feed-forward network and an ego vehicle feed-forward network, wherein the ego vehicle feed-forward network predicts the ego vehicle future trajectories and associated ego vehicle probability distributions, and the agent feed-forward network predicts the agent future trajectories and associated agent probability distributions.
14 . The method of claim 8 , wherein the unified neural network is trained using an imitation learning methodology or other suitable methodology.
15 . A non-transitory computer-readable medium including instructions that, when executed by a processor, cause the processor to:
determine, using a unified neural network based on input information, ego vehicle future trajectories of an ego vehicle and agent future trajectories of one or more agents, wherein the ego vehicle future trajectories and the agent future trajectories have probability distributions;
select one of the ego vehicle future trajectories as a selected trajectory based on the ego vehicle future trajectories and agent future trajectories using a cost function; and
cause the ego vehicle to execute the selected trajectory.
16 . The non-transitory computer-readable medium of claim 15 , wherein:
the input information includes map information, ego vehicle information, and agent information;
the map information includes road layout information;
the ego vehicle information includes at least one of pose, speed, acceleration, size, and moving history of the ego vehicle for a defined time period; and
the agent information includes at least one of pose, size, vehicle type for the current frame, and moving history of the one or more agents for a defined time period.
17 . The non-transitory computer-readable medium of claim 15 , further including instructions that, when executed by a processor, cause the processor to:
perform a collision check between the ego vehicle future trajectories and predicted agent future locations to determine the ego vehicle future trajectories that at least one of collision-free or collision-probable in a predicted horizon; and
select one of the ego vehicle future trajectories as the selected trajectory that is either collision-free or collision-probable in the predicted horizon.
18 . The non-transitory computer-readable medium of claim 17 , further including instructions that, when executed by a processor, cause the processor to extend a cost output by the cost function by adding a collision cost for any potential collision of the ego vehicle with the one or more agents based on the ego vehicle future trajectories and the predicted agent future locations.
19 . The non-transitory computer-readable medium of claim 15 , wherein the unified neural network comprises an element-wise point encoder and a transformer.
20 . The non-transitory computer-readable medium of claim 15 , wherein the unified neural network further comprises an agent feed-forward network and an ego vehicle feed-forward network, wherein the ego vehicle feed-forward network predicts the ego vehicle future trajectories and associated ego vehicle probability distributions and the agent feed-forward network predicts the agent future trajectories and associated agent probability distributions.