Patent ID: 11964669
Assignee: ARGO AI, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 2:
3. The computer-implemented method of claim 2, further comprising:
generating a plurality of candidate constraint sets that specify semantic longitudinal actions or lateral actions for all constraint choices, the plurality of candidate constraint sets including one or more bounds for determining an action of at least one of stop at stop line, pass object on right, pass object on left, yield behind, or track ahead;
determining a trajectory by optimizing a semantic action associated with a candidate constraint set of the plurality of candidate constraint sets,
wherein determining the trajectory further comprises determining and scoring the trajectory based on one or more constraints of the plurality of candidate constraint sets, the candidate constraint set based on a plurality of tree nodes connected together in the topological tree, the plurality of nodes including the one or more bounds satisfying the constraints, and the trajectory comprising a feasible trajectory; and
selecting and initiating the trajectory.