Systems and methods for estimating the risk associated with a vehicular maneuver

US11724691B2 · kind B2 · utility

Assignees

• TOYOTA RESEARCH INSTITUTE, INC. · US
• Massachusetts Institute of Technology · US

Inventors

• Stephen G. McGill · Broomall, US
• Guy Rosman · Newton, US
• Moses Theodore Ort · Lakewood, US
• Alyssa Pierson · Somerville, US
• Igor Gilitschenski · Cambridge, US
• Minoru Araki · Yokohama, JP
• Luke S. Fletcher · Cambridge, US
• Sertac Karaman · Cambridge, US
• Daniela Rus · Weston, US
• John Joseph Leonard · Newton, US

Key dates

• Filing date: Jun 13, 2019
• Grant date: Aug 15, 2023
• Expiry date: Apr 18, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2720/106
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

Systems and methods described herein relate to estimating risk associated with a vehicular maneuver. One embodiment acquires a geometric representation of an intersection including a lane in which a vehicle is traveling and at least one other lane; discretizes the at least one other lane into a plurality of segments; determines a trajectory along which the vehicle will travel; estimates a probability density function for whether a road agent external to the vehicle is present in the respective segments; estimates a traffic-conflict probability of a traffic conflict in the respective segments conditioned on whether an external road agent is present; estimates a risk associated with the vehicle following the trajectory by integrating a product of the probability density function and the traffic-conflict probability over the at least one other lane and the plurality of segments; and controls operation of the vehicle based, at least in part, on the estimated risk.