PLANNING AUTONOMOUS MOTION
Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.
1 . A method comprising:
applying logical expressions having conditions associated with proper actions to a machine having one or more autonomous motion capabilities to determine one or more possible motion actions of the machine, and
applying a metric of deviation from one or more proper actions to select one of the possible motion actions to be effected by the machine.
2 . The method of claim 1 , in which a logical expression is derived from a basic principle comprising a law, a regulation, a principle of ethics, a motion environment, an operation experience, a previously inferred logical expression, or a preference, or a combination of two or more of them.
3 . The method of claim 1 , in which a logical expression is derived from parsing one or more texts describing a basic principle.
4 . The method of claim 1 , in which a logical expression is derived from tracking one or more objects in sensor data and inferring a logical relation between two objects, or between two events, or between two times, or combinations of them.
5 . The method of claim 1 , in which the logical expressions are organized into priority groups.
6 . The method of claim 5 , in which the priority groups are organized in a hierarchy.
7 . The method of claim 6 , in which the hierarchy comprises information about prioritization between two priority groups.
8 . The method of claim 5 , in which the priority groups are organized in a partial order or in a strict order.
9 . The method of claim 5 , in which logical expressions belonging to a priority group are not ordered.
10 . The method of claim 1 , in which the logical expressions are organized into a hierarchy, the hierarchy comprising information about prioritization between two logical expressions.
11 . The method of claim 10 , in which the logical expressions are organized in a partial order or in a strict order.
12 . The method of claim 1 , in which a logical expression comprises one or more factors.
13 . The method of claim 1 , in which the logical expression is derived from statistically evaluating occurrences of conditions, proper actions, and deviations from proper actions.
14 . The method of claim 13 , in which a logical expression is adjusted based on the occurrences.
15 . The method of claim 1 , in which selecting one of the possible motion actions comprises evaluating a priority level of a motion action of the machine.
16 . The method of claim 1 , in which selecting one of the possible motion actions comprises evaluating a motion action of the machine complying with a proper action of a logical expression.
17 . The method of claim 1 , in which the deviation metric is evaluated along an entire trajectory or a trajectory component.
18 . The method of claim 1 , in which the deviation metric comprises energy consumption by the machine.
19 . The method of claim 1 , in which the deviation metric comprises a financial loss by the machine.