Lyft, Inc.
SYSTEMS AND METHODS FOR DETERMINING VEHICLE TRAJECTORIES DIRECTLY FROM DATA INDICATIVE OF HUMAN-DRIVING BEHAVIOR

Abstract:

Examples disclosed herein may involve (i) generating a set of candidate trajectories for a vehicle that each comprise a respective series of planned states for the vehicle, (ii) scoring the candidate trajectories in the generated set of candidate trajectories using one or more reference models that are each configured to (a) receive input values for a respective set of feature variables that are correlated to a respective scoring parameter and (b) output a value for the respective scoring parameter that is reflective of human-driving behavior, (iii) based at least in part on the scoring, selecting a candidate trajectory from the generated set of candidate trajectories to serve as a planned trajectory for vehicle, and (iv) using the selected candidate trajectory as the planned trajectory for the vehicle.