Abstract: An approach to autonomous navigation of a vehicle augments a static map of an environment with a clutter map characterizing a risk of encountering an object that is not represented in the static map of the environment. For example, the clutter map may be based on locations and velocities of those objects, and route planning may avoid planning a path through locations that have a high risk of occupancy, and therefore potential delay or collision.

Abstract: A method of generating an output trajectory of an ego vehicle is described. The method includes extracting high-level features from a bird-view image of a traffic environment of the ego vehicle. The method also includes generating, using an automaton generative network, an automaton including an automaton state distribution describing a behavior of the ego vehicle in the traffic environment according to the high-level features. The method further includes generating the output trajectory of the ego vehicle according to extracted bird-view features of the bird-view image and the automaton state distribution describing the behavior of the ego vehicle in the traffic environment.

Abstract: System and method to autonomously operate a vehicle during travel are disclosed.