Patent ID: 11960292
Assignee: ARGO AI, LLC
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A vehicle motion planning model training system, comprising:
a processor;
a first data store containing a plurality of simulation scenarios; and
a memory that stores programming instructions that are configured to cause the processor to train a vehicle motion planning model by:
receiving, from the first data store, a base simulation scenario that includes features of a scene through which a vehicle may travel,
generating an augmentation element that comprises a simulated behavior for an object in the scene by:
accessing a second data store in which behavior probabilities are mapped to object types to retrieve a set of behavior probabilities for the object; and
applying a randomization function to the behavior probabilities to select the simulated behavior for the object,

adding the augmentation element to the base simulation scenario at the interaction zone to yield an augmented simulation scenario, and
applying the augmented simulation scenario to an autonomous vehicle motion planning model to train the motion planning model by, in the augmented simulation scenario:
simulating movement of the vehicle along a planned trajectory;
by the motion planning model, in response to a perception system of the vehicle detecting the augmentation element, selecting a continued trajectory for the vehicle, wherein the continued trajectory is either the planned trajectory or an alternate trajectory; and
causing the vehicle to move along the continued trajectory.