US 12,319,320 B2
Risk estimation in autonomous driving environments
Magnus Gyllenhammar, Pixbo (SE); and Håkan Sivencrona, Jörlanda (SE)
Assigned to ZENUITY AB, Gothenburg (SE)
Filed by ZENUITY AB, Gothenburg (SE)
Filed on Sep. 17, 2021, as Appl. No. 17/477,920.
Claims priority of application No. 20196794 (EP), filed on Sep. 18, 2020.
Prior Publication US 2022/0089192 A1, Mar. 24, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 50/14 (2020.01)
CPC B60W 60/0059 (2020.02) [B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 50/14 (2013.01); B60W 60/0015 (2020.02); B60W 60/0053 (2020.02); B60W 2050/146 (2013.01); B60W 2554/4041 (2020.02); B60W 2556/40 (2020.02)] 14 Claims
OG exemplary drawing
 
1. A method for estimating a risk exposure of an automated driving system, ADS, of a vehicle, the method comprising:
obtaining an actuation capability of the vehicle, wherein the obtained actuation capability includes an uncertainty estimation for the actuation capability;
obtaining a location of free-space areas in the surrounding environment of the vehicle, wherein the obtained location of free-space areas comprises an uncertainty estimation for the estimated location of free-space areas;
forming a risk map of the surrounding environment of the vehicle based on the obtained actuation capability and the obtained location of free-space areas, wherein the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle; and
determining a total risk value of the ADS based on the risk parameters of a set of area segments intersected by an executed path of the ADS,
wherein the step of determining the total risk value comprises:
for each time sample:
determining a current risk value of the ADS based on the set of area segments intersected by a most recently executed path since a preceding time sample;
determining a current compounded risk value by summing the current risk value with a previously computed compounded risk value for the preceding time sample; and
determining the total risk value by dividing the current compounded risk value with a total number of samples used up until and including a current time sample.