IP Library › Granted Patent US 12,589,776
Granted Patent B2
US 12,589,776 · App. 18/507,038 · Granted Mar 31, 2026

Data-driven prediction-based system and method for trajectory planning of autonomous vehicles

Inventors: Xing Sun (San Diego, CA); Wutu Lin (San Diego, CA); Liu Liu (San Diego, CA); Kai-Chieh Ma (San Diego, CA); Zijie Xuan (San Diego, CA); Yufei Zhao (San Diego, CA)
Assignee: CreateAI, Inc.
G05D1/0221B62D15/0255B62D15/026B62D15/0265G05D1/0088
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Quick Facts
Patent No.
US 12,589,776
App. No.
18/507,038
Granted
Mar 31, 2026
Kind
B2
Abstract

A data-driven prediction-based system and method for trajectory planning of autonomous vehicles are disclosed. A particular embodiment includes: generating a first suggested trajectory for an autonomous vehicle; generating predicted resulting trajectories of proximate agents using a prediction module; scoring the first suggested trajectory based on the predicted resulting trajectories of the proximate agents; generating a second suggested trajectory for the autonomous vehicle and generating corresponding predicted resulting trajectories of proximate agents, if the score of the first suggested trajectory is below a minimum acceptable threshold; and outputting a suggested trajectory for the autonomous vehicle wherein the score corresponding to the suggested trajectory is at or above the minimum acceptable threshold.

Claims (33)

1 . A system comprising:

a data processor; and

a trajectory planning module executable by the data processor and configured to perform a trajectory planning operation for an autonomous vehicle, the trajectory planning operation includes:

generating a suggested trajectory for the autonomous vehicle and a distribution of predicted resulting trajectories for each of proximate agents using a prediction module, the distribution of predicted resulting trajectories being reactions to the suggested trajectory of the autonomous vehicle, wherein the proximate agents are vehicles in vicinity of the autonomous vehicle;

determining whether a score of the suggested trajectory based on the distribution of predicted resulting trajectories of the proximate agents violates or satisfies a pre-defined goal; and

upon determination that the suggested trajectory violates the pre-defined goal, rejecting the suggested trajectory and generating a new suggested trajectory for the autonomous vehicle and a new distribution of predicted resulting trajectories for each of the proximate agents using the prediction module; or

upon determination that the suggested trajectory satisfies the pre-defined goal, providing the suggested trajectory as an output from trajectory planning module,

wherein the trajectory planning operation is repeated until a predetermined condition is met,

wherein the trajectory planning module is configured to cause a vehicle control subsystem of the autonomous vehicle to manipulate the autonomous vehicle to follow the suggested trajectory upon determination that the suggested trajectory satisfies the pre-defined goal.

2 . The system of claim 1 , wherein the predetermined condition is met upon determination that the new suggested trajectory for the autonomous vehicle satisfies the pre-defined goal.

3 . The system of claim 1 , wherein the predetermined condition is met upon determination that an iteration count of the trajectory planning operation has exceeded a maximum iteration count.

4 . The system of claim 1 , wherein the predetermined condition is met upon determination that a time period during which the trajectory planning operation is performed has exceeded a maximum time period.

5 . The system of claim 1 , wherein the score of the suggested trajectory based on the distribution of predicted resulting trajectories of the proximate agents violates the pre-defined goal upon determination that the score of the suggested trajectory is below a minimum acceptable threshold.

6 . The system of claim 1 , wherein the score of the suggested trajectory based on the distribution of predicted resulting trajectories of the proximate agents satisfies the pre-defined goal upon determination that the score of the suggested trajectory is at or above a minimum acceptable threshold.

7 . The system of claim 1 , wherein the distribution of predicted resulting trajectories includes a set of predicted trajectories with probability values obtained based on the suggested trajectory, wherein each of the predicted trajectories in the distribution of predicted resulting trajectories has a corresponding probability value obtained based on the suggested trajectory.

8 . The system of claim 7 , wherein the new suggested trajectory for the autonomous vehicle is generated upon determination that the score of the suggested trajectory corresponding to a highest probability value of the probability values is below a minimum acceptable threshold.

9 . The system of claim 7 , wherein the new suggested trajectory for the autonomous vehicle is not generated upon determination that the score of the suggested trajectory corresponding to a highest probability value of the probability values is at or above a minimum acceptable threshold.

10 . A method comprising:

repeating a trajectory planning operation until a predetermined condition is met,

wherein the trajectory planning operation includes:

generating a suggested trajectory for an autonomous vehicle and a distribution of predicted resulting trajectories for each of proximate agents using a prediction module, the distribution of predicted resulting trajectories being reactions to the suggested trajectory of the autonomous vehicle, wherein the proximate agents are vehicles in vicinity of the autonomous vehicle;

determining whether a score of the suggested trajectory based on the distribution of predicted resulting trajectories of the proximate agents violates or satisfies a pre-defined goal; and

upon determination that the suggested trajectory violates the pre-defined goal, rejecting the suggested trajectory and generating a new suggested trajectory for the autonomous vehicle and a new distribution of predicted resulting trajectories for each of the proximate agents using the prediction module; or

upon determination that the suggested trajectory satisfies the pre-defined goal, providing the suggested trajectory as an output from trajectory planning module,

the method further comprising causing a vehicle control subsystem of the autonomous vehicle to manipulate the autonomous vehicle to follow the suggested trajectory upon determination that the suggested trajectory satisfies the pre-defined goal.

11 . The method of claim 10 , wherein the predetermined condition is met upon determination that the new suggested trajectory for the autonomous vehicle satisfies the pre-defined goal.

12 . The method of claim 10 , wherein the predetermined condition is met upon determination that an iteration count of the trajectory planning operation has exceeded a maximum iteration count.

13 . The method of claim 10 , wherein the predetermined condition is met upon determination that a time period during which the trajectory planning operation is performed has exceeded a maximum time period.

14 . The method of claim 10 , wherein the score of the suggested trajectory based on the distribution of predicted resulting trajectories of the proximate agents violates the pre-defined goal upon determination that the score of the suggested trajectory is below a minimum acceptable threshold.

15 . The method of claim 10 , wherein the score of the suggested trajectory based on the distribution of predicted resulting trajectories of the proximate agents satisfies the pre-defined goal upon determination that the score of the suggested trajectory is at or above a minimum acceptable threshold.

16 . The method of claim 10 , wherein the distribution of predicted resulting trajectories includes a set of predicted trajectories with probability values obtained based on the suggested trajectory, wherein each of the predicted trajectories in the distribution of predicted resulting trajectories has a corresponding probability value obtained based on the suggested trajectory.

17 . The method of claim 16 , wherein the new suggested trajectory for the autonomous vehicle is generated upon determination that the score of the suggested trajectory corresponding to a highest probability value of the probability values is below a minimum acceptable threshold.

18 . The method of claim 16 , wherein the new suggested trajectory for the autonomous vehicle is not generated upon determination that the score of the suggested trajectory corresponding to a highest probability value of the probability values is at or above a minimum acceptable threshold.

Assignments (2)
CHANGE OF NAME Recorded Dec 3, 2025
From: TUSIMPLE, INC.
To: CREATEAI, INC.
Reel/Frame 073832/0485 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 11, 2023
From: SUN, XING; LIN, WUTU; LIU, LIU; MA, KAI-CHIEH; XUAN, ZIJIE; ZHAO, YUFEI
To: TUSIMPLE, INC.
Reel/Frame 065533/0183 →
Continuity (3)
Continuation 16848809 · Apr 14, 2020
Continuation 15698607 · Sep 7, 2017
Related Publication 20240288868A1 · Aug 29, 2024
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