Patent attributes
A system and method are provided and include a subject vehicle having vehicle actuation systems. A driving context database stores driving trends associated with driving locations. A state estimation module determines a current location of the subject vehicle. A global route planner module determines a route to an inputted destination. An action primitive planning module retrieves a driving trend associated with the current location, selects a sequence of action primitives based on the driving trend associated with the current location and based on the determined route, and generates waypoints for the subject vehicle to travel to based on the sequence of action primitives, each waypoint including location coordinates and a direction. A trajectory planner module determines a trajectory for the subject vehicle based on the waypoints. A vehicle control module controls the vehicle actuation systems based on the determined trajectory.
