Patent ID: 11958498
Assignee: TOYOTA RESEARCH INSTITUTE, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 11:
12. A vehicle control system for trajectory planning for an autonomous vehicle, comprising:
a processor; and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations comprising:
computing features of a path associated with each of a plurality of candidate trajectories;
computing scores for the computed features of the plurality of candidate trajectories, wherein the computed scores are based on parameter values of the plurality of candidate trajectories;
evaluating the computed scores for each of the plurality of candidate trajectories, and selecting, based on the evaluation of the computed scores of the plurality of candidate trajectories, a trajectory from among the plurality of candidate trajectories to be used as a warm-start trajectory for trajectory optimization and applying the warm-start trajectory to develop a final trajectory for the autonomous vehicle; and
operating the autonomous vehicle in accordance with the final trajectory.