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公开(公告)号：US11635758B2
公开(公告)日：2023-04-25
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：US11613269B2
公开(公告)日：2023-03-28
申请号：US16724635
申请日：2019-12-23
摘要： Traversing a vehicle transportation network includes operating a scenario-specific operational control evaluation module instance. The scenario-specific operational control evaluation module instance includes an instance of a scenario-specific operational control evaluation model of a distinct vehicle operational scenario. Operating the scenario-specific operational control evaluation module instance includes identifying a multi-objective policy for the scenario-specific operational control evaluation model. The multi-objective policy may include a relationship between at least two objectives. Traversing the vehicle transportation network includes receiving a candidate vehicle control action associated with each of the at least two objectives. Traversing the vehicle transportation network includes selecting a vehicle control action based on a buffer value. Traversing the vehicle transportation network includes performing the selected vehicle control action, determining a preference indicator for each objective, and updating the multi-objective policy.
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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：US11016485B2
公开(公告)日：2021-05-25
申请号：US16367758
申请日：2019-03-28
摘要： Exception handing, such as of obstruction situations, by an autonomous vehicle (AV) is disclosed. A method includes identifying an exception situation; identifying a risk associated with autonomously resolving the exception situation; and in response to the risk exceeding a risk threshold, initiating a request for assistance from a tele-operator, and halting for the tele-operator to respond to the request; and receiving a response from the tele-operator.
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公开(公告)号：US10901417B2
公开(公告)日：2021-01-26
申请号：US16119260
申请日：2018-08-31
发明人： Kuniaki Noda , Kyle Hollins Wray , Stefan Witwicki
摘要： Autonomous vehicle operational management with visual saliency perception control may include operating a perception unit and an autonomous vehicle operational management controller. Operating the perception unit may include generating external object information based on image data received from image capture units of the vehicle and saliency information received from the autonomous vehicle operational management controller. Operating the autonomous vehicle operational management controller may include identifying a distinct vehicle operational scenario based on the external object information, instantiating a scenario-specific operational control evaluation module instance, receiving a candidate vehicle control action from a policy for the scenario-specific operational control evaluation module instance, and controlling the autonomous vehicle to traverse a portion of the vehicle transportation network in accordance with the candidate vehicle control action, wherein the portion of the vehicle transportation network includes 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：US11300957B2
公开(公告)日：2022-04-12
申请号：US16727038
申请日：2019-12-26
IPC分类号： G05D1/00 , G08G1/16 , B60W30/095 , G05D1/02
摘要： A vehicle traversing a vehicle transportation network may use a scenario-specific operational control evaluation model instance. A multi-objective policy for the model is received, wherein the policy includes at least a first objective, a second objective, and a priority of the first objective relative to the second objective. A representation of the policy (e.g., the first objective, the second objective, and the priority) is generated using a user interface. Based on feedback to the user interface, a change to the multi-objective policy for the scenario-specific operational control evaluation model is received. The change is to the first objective, the second objective, the priority, of some combination thereof. Then, for determining a vehicle control action for traversing the vehicle transportation network, an updated multi-objective policy for the scenario-specific operational control evaluation model is generated to include the change to the policy.
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