PROBABILISTIC RISK ASSESSMENT FOR TRAJECTORY EVALUATION

摘要

Techniques are discussed for evaluating trajectories based on risk associated with the trajectories with respect to predicted locations of objects in an environment. A vehicle can capture sensor data of an environment, which may include object(s) separate from the vehicle, such as another vehicle or a pedestrian. A prediction system can output a discretized probability distribution comprising prediction probabilities associated with possible locations of the object in the future. Heat maps, as an example discretized probability distribution, can represent one or more objects. Trajectories can be generated for the vehicle to follow in the environment. An overlap between a region of the vehicle along a trajectory and the heat map can be determined, and a probability associated with the overlap can represent a risk associated with a trajectory navigating through the environment. The vehicle can be controlled based on risks associated with the various trajectories.