ALEXANDRIA, Va., July 28 -- United States Patent no. 12,691,911, issued on July 28, was assigned to Zenseact AB (Gothenburg, Sweden).

"Precautionary planning of minimal risk maneuvers" was invented by Zhennan Fei (Gothenburg, Sweden) and Mattias Brannstrom (Gothenburg, Sweden).

According to the abstract* released by the U.S. Patent & Trademark Office: "An MRM planning system for supporting planning of a minimal risk maneuver, MRM, of an Automated Driving System. The system determines a remaining distance to an upcoming operational design domain, ODD, exit at which an ODD defined for the autonomous driving mode is planned to end. The system further assesses, when the remaining distance is shorter than a predeterminable distance, data assoc...