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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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公开(公告)号：US11215987B2
公开(公告)日：2022-01-04
申请号：US16427742
申请日：2019-05-31
发明人： Christopher Ostafew , Astha Vagadia , Najamuddin Baig , Viju James , Stefan Witwicki , Shlomo Zilberstein
IPC分类号： G05D1/00
摘要： Resolving an exception situation in autonomous driving includes receiving an assistance request to resolve the exception situation from an autonomous vehicle (AV); identifying a solution to the exception situation; forwarding the solution to a tele-operator; receiving a request for playback data from the tele-operator; receiving, from the AV, the playback data; and obtaining, from the tele-operator, a validated solution based on the tele-operator using the playback data. The playback data includes snapshots ni of data related to autonomous driving stored at the AV at respective consecutive times ti, for i=1, . . . , N.
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公开(公告)号：US11113973B2
公开(公告)日：2021-09-07
申请号：US16473037
申请日：2017-02-10
发明人： Kyle Wray , Stefan Witwicki , Shlomo Zilberstein , Liam Pedersen
IPC分类号： G08G1/16 , B60W30/095 , G05D1/00 , G05D1/02
摘要： Autonomous vehicle operational management including blocking monitoring may include traversing, by an autonomous vehicle, a vehicle transportation network. Traversing the vehicle transportation network may include operating a blocking monitor instance, which may include identifying operational environment information including information corresponding to a first external object within a defined distance of the autonomous vehicle, determining a first area of the vehicle transportation network based on a current geospatial location of the autonomous vehicle in the vehicle transportation network and an identified route for the autonomous vehicle, and determining a probability of availability for the first area based on the operational environment information. Traversing the vehicle transportation network may include traversing a portion of the vehicle transportation network based on the probability of availability.
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公开(公告)号：US20210237759A1
公开(公告)日：2021-08-05
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：US20210188297A1
公开(公告)日：2021-06-24
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：US20200379457A1
公开(公告)日：2020-12-03
申请号：US16427742
申请日：2019-05-31
发明人： Christopher Ostafew , Astha Vagadia , Najamuddin Baig , Viju James , Stefan Witwicki , Shlomo Zilberstein
IPC分类号： G05D1/00
摘要： Resolving an exception situation in autonomous driving includes receiving an assistance request to resolve the exception situation from an autonomous vehicle (AV); identifying a solution to the exception situation; forwarding the solution to a tele-operator; receiving a request for playback data from the tele-operator; receiving, from the AV, the playback data; and obtaining, from the tele-operator, a validated solution based on the tele-operator using the playback data. The playback data includes snapshots ni of data related to autonomous driving stored at the AV at respective consecutive times ti, for i=1, . . . , N.
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公开(公告)号：US20200269875A1
公开(公告)日：2020-08-27
申请号：US16472437
申请日：2017-02-10
发明人： Kyle Wray , Stefan Witwicki , Shlomo Zilberstein , Liam Pedersen
摘要： Autonomous vehicle operational management may include traversing, by an autonomous vehicle, a vehicle transportation network. Traversing the vehicle transportation network may include generating an autonomous vehicle operational control environment for operating scenario-specific operational control evaluation module instances. A scenario-specific operational control evaluation module instance may be an instance of a respective scenario-specific operational control evaluation module. A scenario-specific operational control evaluation module may model a respective distinct vehicle operational scenario. A scenario-specific operational control evaluation module instance may generate a respective candidate vehicle control action responsive to the respective corresponding distinct vehicle operational scenario. Traversing the vehicle transportation network may include operating a scenario-specific operational control evaluation module instance, receiving a first candidate vehicle control action from the first scenario-specific operational control evaluation module instance, and traversing a portion of the vehicle transportation network based on the first candidate vehicle control action.
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