ST-GRAPH LEARNING BASED DECISION FOR AUTONOMOUS DRIVING VEHICLE

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ST-GRAPH LEARNING BASED DECISION FOR AUTONOMOUS DRIVING VEHICLE

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XU KECHENG / FAN HAOYANG / ZHANG YAJIA / LUO QI / PAN JIACHENG / MIAO JINGHAO

In one embodiment, a data processing system for an autonomous driving vehicle (ADV) includes 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 include generating a station-time (ST) graph based on perception data obtained from one or more sensors of the ADV, the ST graph including representing a location of an obstacle at different points in time, obtaining a tensor based on the ST graph, the tensor including a plurality of layers, the plurality of layers including a first layer having data representing one or more obstacles on a path in which the ADV is moving, applying a machine-learning model to the plurality of layers of the tensor to generate a plurality of numerical values, the plurality of numerical values defining a potential path trajectory of the ADV, and determining a path trajectory of the ADV based on the plurality of numerical values.

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Title :

ST-GRAPH LEARNING BASED DECISION FOR AUTONOMOUS DRIVING VEHICLE

Contributors:

XU KECHENG (author) / FAN HAOYANG (author) / ZHANG YAJIA (author) / LUO QI (author) / PAN JIACHENG (author) / MIAO JINGHAO (author)

Publication date :

2020-07-02

Type of media :

Patent

Type of material :

Electronic Resource

Language :

English

Classification :

IPC:

G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen