Patent attributes
Producing a motion planning policy for an Autonomous Driving Machine (ADM) may include producing a search tree, including a root node representing a current condition of the ADM and derivative nodes linked thereto, representing predicted conditions of the ADM, following application of an action on the ADM. The nodes may be interlinked by actions and associated quality factors. A neural network (NN) may select a plurality of quality factors. The search tree may be expended to add interlinked derivative nodes according to the NN's selection, until a terminating condition is met. Backward propagating and updating one or more quality factors along trajectories of the expanded tree may occur. The NN may be trained according to the current condition of the ADM and the updated quality factors to select an optimal action. The selected optimal action may be applied on at least one physical element of the ADM.