02-01-2020 дата публикации
Номер: US20200004255A1
Described herein is a method and arrangement () for generating validated control commands () for an autonomous road vehicle (). An end-to-end trained neural network system () is arranged to receive an input of raw sensor data () from on-board sensors () of the autonomous road vehicle () as well as object-level data () and tactical information data (). The end-to-end trained neural network system () is further arranged to map input data () to control commands () for the autonomous road vehicle () over pre-set time horizons. A safety module () is arranged to receive the control commands () for the autonomous road vehicle () over the pre-set time horizons and perform risk assessment of planned trajectories resulting from the control commands () for the autonomous road vehicle () over the pre-set time horizons. The safety module () is further arranged to validate as safe and output validated control commands () for the autonomous road vehicle (). 123. Method for generating validated control commands () for an autonomous road vehicle () , characterized in that it comprises:{'b': 16', '4', '5', '6', '3', '7', '8, 'providing () as input data to an end-to-end trained neural network system () raw sensor data () from on-board sensors () of the autonomous road vehicle () as well as object-level data () and tactical information data ();'}{'b': 17', '4', '5', '7', '8', '10', '3, 'mapping (), by the end-to-end trained neural network system (), input data (, , ) to control commands () for the autonomous road vehicle () over pre-set time horizons;'}{'b': 18', '10', '3', '9', '10', '3, 'subjecting () the control commands () for the autonomous road vehicle () over the pre-set time horizons to a safety module () arranged to perform risk assessment of planned trajectories resulting from the control commands () for the autonomous road vehicle () over the pre-set time horizons;'}{'b': 19', '20', '9', '2', '3, 'validating () as safe and outputting () from the safety module () validated ...
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