Autonomous Vehicle Trajectory Scoring by Scenario Classification
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Solution Overview
Problem
Existing autonomous vehicle systems lack an efficient method for scenario-dependent trajectory scoring, which is crucial for generating high-quality vehicle trajectories in varying environmental and operational conditions.
Innovation Solution
The system performs operations by a computing device to obtain candidate vehicle trajectories and context information, assigns scenario classes, selects appropriate scoring functions, generates quality scores, and selects the best trajectory based on these scores for autonomous driving operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single scoring function is used for all scenarios, then the system complexity is reduced, but the trajectory scoring accuracy and adaptability to different environmental conditions deteriorates
Solution Approach 1:
The patent segments the scoring system by dividing it into multiple scenario-specific scoring functions, each tailored to evaluate trajectories in particular environmental contexts such as urban areas, highways, or residential zones. This segmentation allows each function to specialize in specific scenario characteristics, improving scoring accuracy without requiring a single overly complex universal function.
Solution Approach 2:
The system dynamically selects and switches between different scoring functions based on the current scenario context. The scoring function selection is adaptive, changing in real-time according to environmental conditions, traffic patterns, and road type. This dynamic approach enables the system to maintain high accuracy across diverse scenarios while keeping individual scoring functions relatively simple.
2Adaptability or versatility
If multiple scenario-specific scoring functions are used, then the trajectory scoring accuracy and scenario adaptability are improved, but the system complexity increases
Solution Approach 1:
The patent implements a universal scoring framework that can accommodate multiple scenario-specific functions through a common interface and selection mechanism. The system uses scenario classification to route to appropriate scoring functions, and employs a unified quality score aggregation method that works across all scenarios. This multi-functionality approach allows the system to handle diverse scenarios with specialized functions while maintaining overall system coherence and managing complexity through standardization.
3Manufacturing precision
If scenario classification is performed for each candidate trajectory, then the trajectory selection quality is improved, but the computational time and processing complexity increases
Solution Approach 1:
The system performs preliminary scenario classification based on the current environment and vehicle state before evaluating candidate trajectories. By pre-determining the active scenario class and selecting the appropriate scoring function in advance, the system avoids performing classification operations for each individual trajectory candidate. This preliminary action significantly reduces computational overhead while maintaining high trajectory selection quality through scenario-appropriate scoring.
Data Source
AI summary
Systems and methods for operating an autonomous vehicle. The methods comprising: obtaining one or more candidate vehicle trajectories for the autonomous vehicle and context information defining a state of an environment surrounding the autonomous vehicle; assigning class(es) to a scenario specified by the context information and a first candidate vehicle trajectory; generating a first quality score for the first candidate vehicle trajectory using scoring function(s) selected based on the assigned class(es); select a candidate vehicle trajectory based on the first quality score associated with the first candidate vehicle trajectory and second quality score(s) associated with at least one second candidate vehicle trajectory; and causing the autonomous vehicle to perform autonomous driving operations using the selected candidate vehicle trajectory.