Patent ID: 11958498
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method of trajectory planning for an autonomous vehicle, comprising:
generating a plurality of candidate trajectories, the plurality of candidate trajectories including a sequence of waypoints for the autonomous vehicle associated with corresponding time instances;
computing features of a path associated with each of the plurality of candidate trajectories;
computing scores for the computed features of the plurality of candidate trajectories, wherein the computed scores are based on parameter values of the plurality of candidate trajectories;
evaluating the computed scores for each of the plurality of candidate trajectories, and selecting, based on the evaluation of the computed scores of the plurality of candidate trajectories, a trajectory from among the plurality of candidate trajectories to be used as a warm-start trajectory for trajectory optimization and applying the warm-start trajectory to develop a final trajectory for the autonomous vehicle; and
operating the autonomous vehicle in accordance with the final trajectory.