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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.:

US 11900797 B1

PDFFull Text
Date of Patent:
Feb. 13, 2024

Filed:

Oct. 16, 2019

Autonomous vehicle planning

Applicant:

Five Ai Limited, Bristol, GB;

Inventors:

Subramanian Ramamoorthy, Edinburgh, GB;

Mihai Dobre, Edinburgh, GB;

Roberto Antolin, Edinburgh, GB;

Stefano Albrecht, Edinburgh, GB;

Simon Lyons, Edinburgh, GB;

Svetlin Valentinov Penkov, Edinburgh, GB;

Morris Antonello, Edinburgh, GB;

Francisco Eiras, Edinburgh, GB;

Assignee:

Five AI Limited, Cambridge, GB;

Attorneys:

Andrew J. Tibbetts

Greenberg Traurig, LLP

Primary Examiner:

Hussein Elchanti

Int. Cl.
CPC ...
G08G 1/01 (2006.01); B60W 60/00 (2020.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); G05B 13/02 (2006.01); G05B 13/04 (2006.01); G06T 7/20 (2017.01); H04N 7/18 (2006.01); G06V 20/54 (2022.01); G06F 18/24 (2023.01); G06F 18/214 (2023.01); G06F 18/20 (2023.01); G06N 3/045 (2023.01); G06V 10/84 (2022.01); G06V 20/56 (2022.01);
U.S. Cl.
CPC ...
G08G 1/0116 (2013.01); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/0013 (2020.02); B60W 60/0015 (2020.02); B60W 60/0027 (2020.02); G05B 13/027 (2013.01); G05B 13/04 (2013.01); G06F 18/214 (2023.01); G06F 18/24 (2023.01); G06F 18/295 (2023.01); G06N 3/045 (2023.01); G06T 7/20 (2013.01); G06V 10/84 (2022.01); G06V 20/54 (2022.01); G06V 20/56 (2022.01); H04N 7/183 (2013.01); B60W 2540/30 (2013.01); B60W 2554/4046 (2020.02); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30236 (2013.01); G06T 2207/30241 (2013.01);
Abstract

An autonomous vehicle (AV) planning method comprises: receiving sensor inputs pertaining to an AV; processing the AV sensor inputs to determine an encountered driving scenario; in an AV planner, executing a tree search algorithm to determine a sequence of AV manoeuvres corresponding to a path through a constructed game tree; and generating AV control signals for executing the determined sequence of AV manoeuvres; wherein the game tree has a plurality of nodes representing anticipated states of the encountered driving scenario, and the anticipated driving scenario state of each child node is determined by updating the driving scenario state of its parent node based on (i) a candidate AV manoeuvre and (ii) an anticipated behaviour of at least one external agent in the encountered driving scenario.

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