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

Claim 0:
1. A computer implemented method comprising:
receiving, by one or more processors, 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;
determining, by the one or more processors, 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;
combining, by the one or more processors, the set of features, the trajectory traveled by the agent, and motion data of the agent to form a concatenated data set;
generating, by the one or more processors, predicted trajectories based on the concatenated data set, wherein the predicted trajectories are associated with coordinates and corresponding probabilities;
calculating, by the one or more processors, angles between the predicted trajectories and the trajectory traveled by the agent;
selecting, by the one or more processors, 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;
calculating, by the one or more processors, a difference between the selected trajectory and the trajectory traveled by the agent using a multi-modal loss function;
adjusting, by the one or more processors, weights of a model based on the difference between the selected trajectory and the trajectory traveled by the agent; and
controlling, by the one or more processors, operation of at least one actuator of a vehicle according to at least one driving command generated based on the model.