公开(公告)号：US20230227061A1

公开(公告)日：2023-07-20

申请号：US17576553

申请日：2022-01-14

Applicant: Aurora Operations, Inc.

Inventor： Brian D. Ziebart ,  Paul Vernaza

IPC: B60W60/00 ,  G05B13/02 ,  B60W50/00

CPC classification number: B60W60/001 ,  G05B13/0265 ,  B60W50/00 ,  B60W2050/0022

Abstract: Techniques for improving the performance of an autonomous vehicle (AV) are described herein. A system can determine a plan for the AV in a driving scenario that optimizes an initial cost function of a control algorithm of the AV. The system can obtain data describing an observed human driving path in the driving scenario. Additionally, the system can determine for each cost dimension in the plurality of cost dimensions, a quantity that compares the estimated cost to the observed cost of the observed human driving path. Moreover, the system can determine a function of a sum of the quantities determined for each cost dimension in the plurality of cost dimensions. Subsequently, the system can use an optimization algorithm to adjust one or more weights of the plurality of weights applied to the plurality of cost dimensions to optimize the function of the sum of the quantities.