Systems and methods for decision-making in autonomous vehicles

Abstract

The present invention provides a control system for controlling the motion of a vehicle traveling toward a target destination. The control system comprises a memory and a processor for executing instructions stored in the memory. The memory stores a plurality of trajectory generation functions corresponding to operations defined by a parameter vector related to driving intent. The parameter vector is defined by one or more parameters. Each of the plurality of trajectory generation functions is configured to generate a sequence of achieving a range of states and values ​​of the parameter vector that reach the input target region within the predicted horizon. The stored instructions cause the control system to test the controllability of at least some of the driving intents that match the vehicle's target destination in the current state. The stored instructions also cause the control system to control the vehicle according to one of the permissible driving intents.

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