Patent ID: 11921506
Assignee: NISSAN NORTH AMERICA, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 12:
13. The method of claim 10, wherein:
the decision component is a scenario-specific operational control evaluation model of the distinct vehicle operation scenario that, when solved, results in the policy; and the method comprises:
providing, from the operational environment monitor, the observation to the scenario-specific operational control evaluation model; and
solving the scenario-specific operational control evaluation model while the vehicle is traversing the vehicle transportation network, wherein solving the scenario-specific operational control evaluation model comprises:
updating a previous belief state maintained by the scenario-specific operational control evaluation model to an updated belief state using a belief state update equation; and
if one of the observation is invalid or a difference between the updated belief state and the computed belief state is greater than a threshold difference, using the computed belief state in place of the updated belief state, and otherwise using the updated belief state.