Patent ID: 11934191
Assignee: HUAWEI TECHNOLOGIES CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 15:
16. The non-transitory computer-readable medium of claim 15, comprising further computer-executable instructions that, when executed by a vehicle control system cause the vehicle control system to learn the respective set of lane centeredness GVFs and the respective set of road angle GVFs by:
generating the first set of predictions by the respective set of lane centeredness GVFs based on the current state at a current time step and generating the second set of predictions by the respective set of road angle GVFs based on the current state at the current time step;
generating the vehicle action based on the first and second sets of predictions;
executing the vehicle action and sampling a next state at a next time step;
computing a cumulant based on the current state, the executed vehicle action and the next state; and
updating the respective set of lane centeredness GVFs and the respective set of road angle GVFs implemented based on the cumulant.