Patent ID: 11912271
Assignee: MOTIONAL AD LLC
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 13:
14. A vehicle comprising:
one or more computer-readable media storing computer-executable instructions; and
one or more processors configured to execute the computer-executable instructions to:
receive location data and past trajectory data for one or more objects detected by one or more sensors and training set data comprising a trajectory traveled by an agent;
determine a set of features for the one or more objects based on the location data and the past trajectory data, wherein the set of features comprises information associated with the one or more objects;
combine the set of features, the trajectory traveled by the agent, and motion data of the agent to form a concatenated data set;
generate predicted trajectories based on the concatenated data set, wherein the predicted trajectories are associated with coordinates and corresponding probabilities;
calculate angles between the predicted trajectories and the trajectory traveled by the agent;
select a selected trajectory from the predicted trajectories when the angles are within a threshold using a function that selects the selected trajectory from the predicted trajectories based on template trajectories;
calculate a difference between the selected trajectory and the trajectory traveled by the agent using a multi-modal loss function;
adjust weights of a model based on the difference between the selected trajectory and the trajectory traveled by the agent; and
control operation of at least one actuator of the vehicle according to at least one driving command generated based on the model.