SYSTEM FOR MOTION PLANNING WITH NATURAL LANGUAGE COMMAND INTERPRETATION

A system for motion planning for a vehicle includes a processor that is programmed to analyze text data representing a natural language command related to an environment of the vehicle. The system generates a rule with an associated condition criterion portion and a result portion. For each potential driving action of a set of potential driving actions of the vehicle, the system determines whether the potential driving action contradicts the result portion of the rule. A driving action mask is generated that includes, for each potential driving action of the set of potential driving actions of the vehicle, a corresponding mask parameter. If the potential driving action contradicts the result portion of the rule, then the corresponding mask parameter acts to decrease a probability of selection of that potential driving action in a motion planning decision. The condition criterion portion is evaluated to determine whether the mask is applicable and if the mask is applicable, the driving action mask is used to determine a motion planning decision for the vehicle. A rule expiration criterion may also be evaluated to determine whether a rule is expired.