METHOD AND SYSTEM FOR ASSESSING AND MITIGATING RISKS ENCOUNTERABLE BY AN AUTONOMOUS VEHICLE
A method 100 assessing and mitigating risks encounterable by an autonomous vehicle includes collecting information associated with an environment of an ego vehicle and determining and assessing a set of risks encounterable by the ego vehicle. A system for assessing and mitigating risks can include and/or interface with an ego vehicle (equivalently referred to herein as an autonomous vehicle, autonomous agent, ego agent, agent, etc.) and a set of computing subsystems (equivalently referred to herein as a set of computers) and/or processing subsystems (equivalently referred to herein as a set of processors), which function to implement any or all of the processes of the method.
1 . A method comprising:
during operation of a vehicle, identifying a set of environmental objects in an environment of the vehicle based on a dataset of environmental information;
simulating a plurality of future scenarios based on the dataset, the plurality of future scenarios comprising:
a first set of scenarios representing the environment; and
a second set of scenarios, each representing a respective alteration of the environment;
determining a set of risks based on the first set of scenarios;
calculating a set of metrics based on the set of risks, the second set of scenarios, and a set of velocity metrics associated with the plurality of future scenarios; and
controlling the vehicle based on the set of metrics.
2 . The method of claim 1 , wherein the second set of scenarios comprises a first scenario and a second scenario, wherein, in the first scenario, movement of only the set of environmental objects is simulated.
3 . The method of claim 2 , wherein, in the second scenario, movement of only the vehicle is simulated.
4 . The method of claim 1 , wherein the set of risks comprises multiple categories of risk, the multiple categories of risk comprising a first category of risk, wherein the first category risk involves multiple objects of a set of objects, the set of objects comprising the vehicle and the set of environmental objects.
5 . The method of claim 4 , wherein the first category of risk comprises a simulated collision in the first set of scenarios.
6 . The method of claim 4 , wherein the multiple categories of risk further comprise a second category of risk, wherein a metric of the set of metrics is calculated based on the second category of risk, wherein the metric is determined based only on movement of a single object of the set of objects.
7 . The method of claim 6 , wherein the second category of risk is not associated with a simulated collision.
8 . The method of claim 1 , wherein the method is performed in accordance with a single policy option of a set of multiple policy options for the vehicle.
9 . The method of claim 1 , wherein the vehicle is an autonomous vehicle.
10 . The method of claim 1 , wherein the set of metrics comprises a temporal risk profile.
11 . A method for a vehicle, comprising:
identifying a set of environmental objects in an environment of the vehicle based on a dataset of environmental information;
based on the dataset, simulating a plurality of future scenarios comprising a set of alteration scenarios which represent a respective alteration of the environment;
determining a set of risks based on a scenario of the plurality of future scenarios;
calculating a set of metrics based on the set of risks, the set of alteration scenarios, and a set of velocity metrics associated with the plurality of future scenarios; and
controlling the vehicle based on the set of metrics.
12 . The method of claim 11 , wherein at least one of the set of risks is determined based on a labeled map.
13 . The method of claim 11 , wherein the at least one risk is further determined based on a simulated co-location of the vehicle and an environmental object of the set of environmental objects during the scenario.
14 . The method of claim 11 , wherein the set of risks comprises multiple categories of risk, the multiple categories of risk comprising a first category of risk, wherein the first category risk involves multiple objects of a set of objects, the set of objects comprising the vehicle and the set of environmental objects.
15 . The method of claim 14 , wherein the first category of risk comprises a simulated collision in the first set of scenarios.
16 . The method of claim 14 , wherein the multiple categories of risk further comprise a second category of risk, wherein a metric of the set of metrics is calculated based on the second category of risk, wherein the metric is determined based only on movement of a single object of the set of objects.
17 . The method of claim 16 , wherein the second category of risk is not associated with a simulated collision.
18 . The method of claim 11 , further comprising applying a scaling factor to at least one of the set of metrics, wherein the scaling factor is determined based on a set of uncertainty values produced in simulating the scenario.
19 . The method of claim 11 , further comprising applying a scaling factor to at least one of the set of metrics, wherein the scaling factor is determined based on a set of classifications associated with the set of environmental objects.
20 . The method of claim 11 , further comprising applying a scaling factor to at least one of the set of metrics, wherein the scaling factor is determined based on a set of predetermined driving conventions.