公开(公告)号：US20240367688A1

公开(公告)日：2024-11-07

申请号：US18658674

申请日：2024-05-08

Applicant: Aurora Operations, Inc.

Inventor： Alexander Yuhao Cui ,  Abbas Sadat ,  Sergio Casas ,  Renjie Liao ,  Raquel Urtasun

IPC: B60W60/00 ,  B60W40/04 ,  G05B13/02 ,  G06N3/045

Abstract: Systems and methods are disclosed for motion forecasting and planning for autonomous vehicles. For example, a plurality of future traffic scenarios are determined by modeling a joint distribution of actor trajectories for a plurality of actors, as opposed to an approach that models actors individually. As another example, a diversity objective is evaluated that rewards sampling of the future traffic scenarios that require distinct reactions from the autonomous vehicle. An estimated probability for the plurality of future traffic scenarios can be determined and used to generate a contingency plan for motion of the autonomous vehicle. The contingency plan can include at least one initial short-term trajectory intended for immediate action of the AV and a plurality of subsequent long-term trajectories associated with the plurality of future traffic scenarios.

公开(公告)号：US12214801B2

公开(公告)日：2025-02-04

申请号：US17528549

申请日：2021-11-17

Applicant: Aurora Operations, Inc.

Inventor： Jingkang Wang ,  Ava Alison Pun ,  Xuanyuan Tu ,  Mengye Ren ,  Abbas Sadat ,  Sergio Casas ,  Sivabalan Manivasagam ,  Raquel Urtasun

IPC: B60W60/00 ,  G06N3/086

Abstract: Techniques for generating testing data for an autonomous vehicle (AV) are described herein. A system can obtain sensor data descriptive of a traffic scenario. The traffic scenario can include a subject vehicle and actors in an environment. Additionally, the system can generate a perturbed trajectory for a first actor in the environment based on perturbation values. Moreover, the system can generate simulated sensor data. The simulated sensor data can include data descriptive of the perturbed trajectory for the first actor in the environment. Furthermore, the system can provide the simulated sensor data as input to an AV control system. The AV control system can be configured to process the simulated sensor data to generate an updated trajectory for the subject vehicle in the environment. Subsequently, the system can evaluate an adversarial loss function based on the updated trajectory for the subject vehicle to generate an adversarial loss value.