Patent ID: 11899464
Assignee: MOTIONAL AD LLC
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 18:
19. One or more non-transitory storage media storing instructions which, when executed by one or more computing devices, cause the one or more computing devices to:
store a plurality of constraints for operating an autonomous vehicle within an environment;
receive, using one or more sensors of the autonomous vehicle, sensor data describing the environment;
receive, using one or more additional sensors of the autonomous vehicle, additional sensor data describing one or more physical characteristics of a passenger of the autonomous vehicle other than a driver of the autonomous vehicle;
extract a feature vector from the stored plurality of constraints, the received sensor data, and the received additional sensor data, wherein the feature vector comprises:
a first feature describing an object located within the environment,
a second feature describing the one or more physical characteristics of the passenger of the autonomous vehicle, and
a third feature describing a current operation of the vehicle;
determining a hierarchical ranking of the stored plurality of constraints based on the feature vector, including the first feature, the second feature, and the third feature, wherein a rank of each constraint of the stored plurality of constraints corresponds to a level of navigational safety of the autonomous vehicle;

generate a first motion segment based on (i) the feature vector including the first feature, the second feature, and the third feature and (ii) the hierarchical ranking of the stored plurality of constraints, such that a number of violations of the stored plurality of constraints is below a threshold, wherein the generated first motion segment comprises at least one of:
a trajectory between two spatiotemporal locations of the environment, or
a speed of the autonomous vehicle to avoid a collision of the autonomous vehicle with the object; and

causing the autonomous vehicle to autonomously traverse to a destination in accordance with the generated first motion segment.