US 11,807,267 B2
Systems and methods for risk-sensitive sequential action control for robotic devices
Haruki Nishimura, Stanford, CA (US); Boris Ivanovic, Stanford, CA (US); Adrien David Gaidon, Mountain View, CA (US); Marco Pavone, Stanford, CA (US); and Mac Schwager, Stanford, CA (US)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US); and THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY, Stanford, CA (US)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US); and The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
Filed on Dec. 31, 2020, as Appl. No. 17/139,105.
Prior Publication US 2022/0204030 A1, Jun. 30, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); G06V 20/58 (2022.01)
CPC B60W 60/0011 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 60/00274 (2020.02); G06V 20/58 (2022.01); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A control system for improving controls in a device according to risk, comprising:
one or more processors;
a memory communicably coupled to the one or more processors and storing:
a detection module including instructions that, when executed by the one or more processors, cause the one or more processors to, in response to receiving sensor data about a surrounding environment of the device, identify objects from the sensor data that are present in the surrounding environment; and
a control module including instructions that, when executed by the one or more processors, cause the one or more processors to generate a control sequence for controlling the device according to a risk-sensitivity parameter to navigate toward a destination while considering risk associated with encountering the objects defined by the risk-sensitivity parameter, the risk-sensitivity parameter being selectable along a continuum to define an extent of variability that is acceptable in a collision cost in addition to a mean for controlling the device, and
control the device according to the control sequence.