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:
Aug. 15, 2023
Filed:
Jun. 13, 2019
Toyota Research Institute, Inc., Los Altos, CA (US);
Massachusetts Institute of Technology, Cambridge, MA (US);
Stephen G. McGill, Jr., Broomall, PA (US);
Guy Rosman, Newton, MA (US);
Moses Theodore Ort, Lakewood, NJ (US);
Alyssa Pierson, Somerville, MA (US);
Igor Gilitschenski, Cambridge, MA (US);
Minoru Brandon Araki, Cambridge, MA (US);
Luke S. Fletcher, Cambridge, MA (US);
Sertac Karaman, Cambridge, MA (US);
Daniela Rus, Weston, MA (US);
John Joseph Leonard, Newton, MA (US);
Toyota Research Institute, Inc., Los Altos, CA (US);
Massachusetts Institute of Technology, Cambridge, MA (US);
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.