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公开(公告)号：US11577746B2
公开(公告)日：2023-02-14
申请号：US16821115
申请日：2020-03-17
申请人： Nissan North America, Inc. , The University of Massachusetts , United States of America as Represented by the Administrator of NASA
发明人： Kyle Hollins Wray , Omar Bentahar , Astha Vagadia , Laura Cesafsky , Arec Jamgochian , Stefan Witwicki , Najamuddin Mirza Baig , Julius S. Gyorfi , Shlomo Zilberstein , Sparsh Sharma
摘要： A processor is configured to execute instructions stored in a memory to determine, in response to identifying vehicle operational scenarios of a scene, an action for controlling the AV, where the action is from a selected decision component that determined the action based on level of certainty associated with a state factor; generate an explanation as to why the action was selected, such that the explanation includes respective descriptors of the action, the selected decision component, and the state factor; and display the explanation in a graphical view that includes a first graphical indicator of a world object of the selected decision component, a second graphical indicator describing the state factor, and a third graphical indicator describing the action.
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公开(公告)号：US20210261123A1
公开(公告)日：2021-08-26
申请号：US16753601
申请日：2017-10-31
IPC分类号： B60W30/095 , B60W60/00 , B60W30/18 , G06K9/00
摘要： Autonomous vehicle operation with explicit occlusion reasoning may include traversing, by a vehicle, a vehicle trans-network. Traversing the vehicle transportation network can include receiving, from a sensor of the vehicle, sensor data for a portion of a vehicle operational environment, determining, using the sensor data, a visibility grid comprising coordinates forming an unobserved region within a defined distance from the vehicle, computing a probability of a presence of an external object within the unobserved region by comparing the visibility grid to a map (e.g., a high-definition map), and traversing a portion of the vehicle transportation network using the probability. An apparatus and a vehicle are also described.
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公开(公告)号：US11084504B2
公开(公告)日：2021-08-10
申请号：US16758286
申请日：2017-11-30
摘要： Traversing, by an autonomous vehicle, a vehicle transportation network, may include operating a scenario-specific operational control evaluation module instance, wherein the scenario-specific operational control evaluation module instance includes an instance of a scenario-specific operational control evaluation model of a vehicle operational scenario wherein the vehicle operational scenario is a merge vehicle operational scenario or a pass-obstruction vehicle operational scenario, receiving a candidate vehicle control action from the scenario-specific operational control evaluation module instance, and traversing a portion of the vehicle transportation network in accordance with the candidate vehicle control action.
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公开(公告)号：US20210240190A1
公开(公告)日：2021-08-05
申请号：US16778890
申请日：2020-01-31
IPC分类号： G05D1/02 , G06F40/186
摘要： A processor is configured to execute instructions stored in a memory to identify distinct vehicle operational scenarios; instantiate decision components, where each of the decision components is an instance of a respective decision problem, and where the each of the decision components maintains a respective state describing the respective vehicle operational scenario; receive respective candidate vehicle control actions from the decision components; select an action from the respective candidate vehicle control actions, where the action is from a selected decision component of the decision components, and where the action is used to control the AV to traverse a portion of the vehicle transportation network; and generate an explanation as to why the action was selected, where the explanation includes respective descriptors of the action, the selected decision component, and a state factor of the respective state of the selected decision component.
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公开(公告)号：US20210157315A1
公开(公告)日：2021-05-27
申请号：US16696235
申请日：2019-11-26
摘要： A method for use in traversing a vehicle transportation network by an autonomous vehicle (AV) includes traversing, by the AV, the vehicle transportation network. Traversing the vehicle transportation network includes identifying a distinct vehicle operational scenario; instantiating a first decision component instance; receiving a first set of candidate vehicle control actions from the first decision component instance; selecting an action; and controlling the AV to traverse a portion of the vehicle transportation network based on the action. The first decision component instance is an instance of a first decision component modeling the distinct vehicle operational scenario.
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公开(公告)号：US10649453B1
公开(公告)日：2020-05-12
申请号：US16192356
申请日：2018-11-15
IPC分类号： G05D1/00 , B60W50/029
摘要： Introspective autonomous vehicle operational management includes operating an introspective autonomous vehicle operational management controller including a policy for a model of an introspective autonomous vehicle operational management domain. Operating the controller includes, in response to a determination that a current belief state of the policy indicates an exceptional condition, identifying an exception handler for controlling the autonomous vehicle. Operating the controller includes, in response to a determination that the current belief state indicates an unexceptional condition, identifying a primary handler as the active handler. Operating the controller includes controlling the autonomous vehicle to traverse a current portion of the vehicle transportation network in accordance with the active handler, receiving an indicator output by the active handler, generating an updated belief state based on the indicator, and controlling the autonomous vehicle to traverse a subsequent portion of the vehicle transportation network based on the updated belief state.
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公开(公告)号：US12001211B2
公开(公告)日：2024-06-04
申请号：US18166921
申请日：2023-02-09
CPC分类号： G05D1/0088 , G01C21/3492 , G05D1/0212 , G06N7/01
摘要： A first distinct vehicle operational scenario is identified for an autonomous vehicle (AV). A first set of candidate vehicle control actions are received from a model that provides a first solution to the first distinct vehicle operational scenario. An action is selected from the first set of candidate vehicle control actions. The AV is controlled based on the action. The first solution is obtained offline in a first idealized situation that is decoupled from a current context of the AV.
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公开(公告)号：US11874120B2
公开(公告)日：2024-01-16
申请号：US16955531
申请日：2017-12-22
CPC分类号： G01C21/3407 , B60W60/001 , H04L63/1425 , H04L63/20 , B60W2556/45
摘要： Traversing, by an autonomous vehicle, a vehicle transportation network, may include identifying a distinct vehicle operational scenario, wherein traversing the vehicle transportation network includes traversing a portion of the vehicle transportation network that includes the distinct vehicle operational scenario, communicating shared scenario-specific operational control management data associated with the distinct vehicle operational scenario with an external shared scenario-specific operational control management system, operating a scenario-specific operational control evaluation module instance including an instance of a scenario-specific operational control evaluation model of the distinct vehicle operational scenario, and wherein operating the scenario-specific operational control evaluation module instance includes identifying a policy for the scenario-specific operational control evaluation model, receiving a candidate vehicle control action from the policy for the scenario-specific operational control evaluation model, and traversing a portion of the vehicle transportation network based on the candidate vehicle control action.
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公开(公告)号：US20220276653A1
公开(公告)日：2022-09-01
申请号：US17186940
申请日：2021-02-26
摘要： Route planning includes receiving a destination, obtaining a lane-level route to the destination using a map, and controlling an autonomous vehicle (AV) to traverse the lane-level route. The lane-level route includes a transition from a first segment of a first lane of a road to a second segment of a second lane of the road.
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公开(公告)号：US20220274624A1
公开(公告)日：2022-09-01
申请号：US17186987
申请日：2021-02-26
摘要： Lane-level route planning includes obtaining lane-level information of a road, where the road includes a first lane and a second lane and the lane-level information includes first lane information related to the first lane and second lane information related to the second lane; converting the lane-level information to probabilities for a state transition function; receiving a destination; and obtaining a policy as a solution to a model that uses the state transition function.
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