Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles
First Claim
1. A method, comprising:
- receiving, at a computing system configured to control a first vehicle, vehicle information indicative of lane of travel, speed, and pose of the first vehicle, wherein the pose of the first vehicle includes heading and orientation of the first vehicle;
estimating one or more possible future behaviors of a second vehicle in a vicinity of the first vehicle based on (i) a predicted behavior of the second vehicle in response to an action of the first vehicle, and (ii) location, speed, and pose of the second vehicle relative to the first vehicle and other objects in the vicinity of the first vehicle, wherein the one or more possible future behaviors of the second vehicle comprise the second vehicle changing one or more of the speed, the pose, and a lane of travel of the second vehicle;
determining respective likelihoods of occurrence for the one or more possible future behaviors of the second vehicle; and
based on the respective likelihoods, determining whether to maintain or modify one or more of the speed, pose, and lane of travel of the first vehicle.
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Accused Products
Abstract
A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.
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Citations
15 Claims
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1. A method, comprising:
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receiving, at a computing system configured to control a first vehicle, vehicle information indicative of lane of travel, speed, and pose of the first vehicle, wherein the pose of the first vehicle includes heading and orientation of the first vehicle; estimating one or more possible future behaviors of a second vehicle in a vicinity of the first vehicle based on (i) a predicted behavior of the second vehicle in response to an action of the first vehicle, and (ii) location, speed, and pose of the second vehicle relative to the first vehicle and other objects in the vicinity of the first vehicle, wherein the one or more possible future behaviors of the second vehicle comprise the second vehicle changing one or more of the speed, the pose, and a lane of travel of the second vehicle; determining respective likelihoods of occurrence for the one or more possible future behaviors of the second vehicle; and based on the respective likelihoods, determining whether to maintain or modify one or more of the speed, pose, and lane of travel of the first vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A non-transitory computer readable medium having stored thereon instructions that, when executed by a computer device configured to control a first vehicle, cause the computer device to perform functions comprising:
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receiving vehicle information indicative of lane of travel, speed, and pose of the first vehicle, wherein the pose of the first vehicle includes heading and orientation of the first vehicle; estimating one or more possible future behaviors of a second vehicle in a vicinity of the first vehicle based on (i) a predicted behavior of the second vehicle in response to an action of the first vehicle, and (ii) location, speed, and pose of the second vehicle relative to the first vehicle and other objects in the vicinity of the first vehicle, wherein the one or more possible future behaviors of the second vehicle comprise the second vehicle changing one or more of the speed, the pose, and a lane of travel of the second vehicle; determining respective likelihoods of occurrence for the one or more possible future behaviors of the second vehicle; and based on the respective likelihoods, determining whether to maintain or modify one or more of the speed, pose, and lane of travel of the first vehicle. - View Dependent Claims (9, 10, 11, 12)
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13. A system, comprising:
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at least one processor; and data storage comprising instructions that, when executed by the at least one processor, cause the system to perform functions comprising; receiving vehicle information indicative of lane of travel, speed, and pose of the first vehicle, wherein the pose of the first vehicle includes heading and orientation of the first vehicle; estimating one or more possible future behaviors of a second vehicle in a vicinity of the first vehicle based on (i) a predicted behavior of the second vehicle in response to an action of the first vehicle, and (ii) location, speed, and pose of the second vehicle relative to the first vehicle and other objects in the vicinity of the first vehicle, wherein the one or more possible future behaviors of the second vehicle comprise the second vehicle changing one or more of the speed, the pose, and a lane of travel of the second vehicle; determining respective likelihoods of occurrence for the one or more possible future behaviors of the second vehicle; and based on the respective likelihoods, determining whether to maintain or modify one or more of the speed, pose, and lane of travel of the first vehicle. - View Dependent Claims (14, 15)
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Specification