US 11,926,342 B2
Autonomous vehicle post-action explanation system
Laith Sahawneh, Murrysville, PA (US); and Bence Cserna, East Boston, MA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Aug. 31, 2021, as Appl. No. 17/463,438.
Prior Publication US 2023/0065339 A1, Mar. 2, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/02 (2006.01); B60W 50/14 (2020.01); G08G 1/16 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/02 (2013.01); B60W 50/14 (2013.01); G08G 1/162 (2013.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01); B60W 2050/146 (2013.01); B60W 2554/20 (2020.02); B60W 2554/40 (2020.02); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, with at least one processor, a planned path of an automated vehicle, a state of the automated vehicle and environment data of an environment in which the automated vehicle is operating;
receiving, with the at least one processor, a deviation signal that represents a deviation from a planned path of the automated vehicle;
determining, with the at least one processor, whether the deviation signal was reported by a first system or a second system of the automated vehicle;
in accordance with the deviation signal being reported by the first system of the automated vehicle:
selecting, with the at least one processor, a first set of simulators for simulating a first behavior of the automated vehicle in the environment;
in accordance with the deviation signal being reported by the second system of the vehicle:
selecting, with the at least one processor, a second set of simulators for simulating a second behavior of the automated vehicle in the environment;
simulating, with the at least one processor, the first behavior or the second behavior of the automated vehicle to determine that a current selected object produces a deviation in the simulating using the selected first or second set of simulators, wherein the current selected object is iteratively selected by an iterator until the current selected object is a responsible object that caused the deviation;
generating, with the at least one processor, a message identifying the responsible object causing the deviation; and
presenting, with the at least one processor, the message to at least one occupant of the automated vehicle.