The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 09, 2023
Filed:
Jul. 29, 2020
Toyota Research Institute, Inc., Los Altos, CA (US);
The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US);
Mingyu Wang, Stanford, CA (US);
Negar Zahedi Mehr, Stanford, CA (US);
Adrien David Gaidon, Mountain View, CA (US);
Mac Schwager, San Francisco, CA (US);
TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US);
THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY, Stanford, CA (US);
Abstract
A method for risk-aware game-theoretic trajectory planning is described. The method includes modeling an ego vehicle and at least one other vehicle as risk-aware agents in a game-theoretic driving environment. The method also includes ranking upcoming planned trajectories according to a risk-aware cost function of the ego vehicle and a risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories. The method further includes selecting a vehicle trajectory according to the ranking of the upcoming planned trajectories based on the risk-aware cost function and the risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories to reach a target destination according to a mission plan.