公开(公告)号：US10732625B2

公开(公告)日：2020-08-04

申请号：US15830992

申请日：2017-12-04

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Benjamin Weinstein-Raun

IPC: G05D1/00 ,  G05D1/02 ,  B60W60/00

Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a vehicle includes: one or more onboard sensing devices, one or more onboard actuators, and a controller that, by a processor, obtains sensor data from the one or more sensing devices, identifies an assistance event based at least in part on the sensor data, determines an automated response to the assistance event based at least in part on the sensor data and an autonomous assistance policy, and autonomously operates the one or more actuators onboard the vehicle in accordance with the automated response. In exemplary embodiments, the autonomous assistance policy is determined using inverse reinforcement learning to optimize a reward function and mimic a remote human assistor.

公开(公告)号：US10688991B2

公开(公告)日：2020-06-23

申请号：US15878620

申请日：2018-01-24

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Eric Lujan ,  Benjamin Weinstein-Raun ,  Drew Gross

IPC: B60W30/095 ,  G05D1/02 ,  B60W40/04 ,  G08G1/00 ,  G01C21/32 ,  B60W30/18 ,  G01C21/34 ,  G08G1/16

Abstract: Systems and method are provided for controlling a vehicle. In various embodiments, a method of path planning for a vehicle includes receiving sensor data relating to an environment associated with the vehicle; defining a region of interest for the vehicle, based on the sensor data; defining a graph comprising a plurality of nodes, each of the plurality of nodes comprising a state of the vehicle and an associated cost, based on a cost function as applied to the state of the vehicle, at one of a plurality of points in time; and performing, via a processor, a search of the graph, based on the associated costs of each node of the graph, to determine a selected path for the vehicle through the region of interest that minimizes a total cost via the graph.