Nissan North America, Inc.

Renault S.a.s.

University of Massachusetts

United States of America As Represented by the Administrator of Nasa

Arec Jamgochian

Stefan Witwicki

Kyle Hollins Wray

Omar Bentahar

Shlomo Zilberstein

Julius S Gyorfi

Najamuddin Mirza Baig

Laura Cesafsky

Astha Vagadia

Sparsh Sharma

An apparatus for post-processing of a decision-making model of an autonomous vehicle receives a decision-making model including a plurality of states. The model is processed using multivariate data that comprises values for at least three observations of a vehicle operational scenario. A slice of the model decision space is generated by fixing values of all except two observations, and modifying the values of the two observations to obtain multiple alternative solutions for the model. The alternative solutions and the modified values form the slice. Each alternative solution is associated with a respective first value of a first observation and a respective second value of a second observation. The apparatus also generates a solution to a modified decision-making model that is the model modified by, for at least one state and at least one of the two observations, modifying a probabilistic transition matrix, a probabilistic observation matrix, or both.

Apparatus and method for post-processing a decision-making model of an autonomous vehicle using multivariate data

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.

Explainability of autonomous vehicle decision making

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.

Growing community of inventors

Stanford, CA, United States of America

Arec Jamgochian