CPC B60W 60/001 (2020.02) [B60W 2552/05 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4046 (2020.02); B60W 2556/40 (2020.02)] | 20 Claims |
1. A method for operating an autonomous vehicle, the method comprising:
selecting a first set of policies for evaluation by the autonomous vehicle, the first set of policies comprising:
a set of single action policies;
a set of multiple action policies, wherein each of the set of multiple action policies prescribes:
a set of multiple actions; and
a set of trigger conditions, wherein each of the set of trigger conditions is associated with a transition between consecutive actions of the set of multiple actions;
evaluating the first set of policies, wherein evaluating the first set of policies comprises:
for each policy of the first set of policies:
simulating, over a predetermined simulation time period in the future, a behavior of the autonomous vehicle and a behavior of each of a set of tracked agents in an environment of the autonomous vehicle in response to the autonomous vehicle executing the policy;
determining a quantitative metric for the policy based on the behavior of the autonomous vehicle and the behaviors of the set of tracked agents;
selecting a policy from the first set of policies based on the set of quantitative metrics;
operating the autonomous vehicle according to the selected policy, wherein the selected policy comprises a multiple action policy of the set of multiple action policies, comprising:
implementing a first action of the set of multiple actions of the selected multiple action policy;
while the first action is being implemented and according to a predetermined election cycle period, the predetermined election cycle period having a shorter duration than the predetermined simulation time period, selecting a second set of policies for evaluation by the autonomous vehicle;
evaluating the second set of policies and selecting a second policy based on the evaluation;
refraining from completing a remainder of the selected multiple action policy;
operating the autonomous vehicle according to the selected second policy.
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