US 12,344,280 B2
Online state space refinement for competence-aware systems
Connor Basich, Northampton, MA (US); Kyle Hollins Wray, Mountain View, CA (US); Stefan Witwicki, San Carlos, CA (US); and Shlomo Zilberstein, Amherst, MA (US)
Assigned to Nissan North America, Inc., Franklin, TN (US); and The University of Massachusetts, Boston, MA (US)
Filed by Nissan North America, Inc., Franklin, TN (US); and The University of Massachusetts, Boston, MA (US)
Filed on May 31, 2022, as Appl. No. 17/828,815.
Prior Publication US 2023/0382433 A1, Nov. 30, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 50/00 (2006.01); G06N 7/01 (2023.01)
CPC B60W 60/0053 (2020.02) [B60W 50/00 (2013.01); G06N 7/01 (2023.01); B60W 2050/0028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of autonomous driving by an autonomous vehicle (AV), comprising:
detecting, based on sensor data, an environment state;
selecting an action based on the environment state;
identifying a current set of indiscriminate states;
identifying a discriminator from the current set of indiscriminate states;
training a feedback model for the discriminator;
determining an autonomy level associated with the environment state and the action, wherein the autonomy level is selected based at least on an autonomy model and the feedback model; and
performing the action according to the autonomy level.