Continual planning and metareasoning for controlling an autonomous vehicle
US10836405B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Oct 30, 2017 |
| Grant date | Nov 17, 2020 |
| Priority date | — |
| Expiry date | Oct 30, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/166
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Systems and methods for autonomous vehicle control are disclosed herein. According to some implementations, a method includes a scenario-specific operation control evaluation module (SSOCEM) based on a route of the vehicle. The SSOCEM includes a preferred model and one or more fallback models that respectively determine candidate vehicle control actions. The method includes instantiating a SSOCEM instance based on the SSOCEM. The SSOCEM determines a candidate vehicle control action by determining an approximate amount of time needed to determine a solution to the preferred model and determining an approximate amount of time until the upcoming scenario is reached. When the approximate amount of time needed to determine the solution is less than the approximate amount of time to reach the upcoming scenario, the candidate vehicle control action is determined based on the preferred model; otherwise, the candidate vehicle control action is determined based on a fallback model.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.