Distribution decision trees
First Claim
1. A method comprising:
- determining, for a given split decision from among a plurality of split decisions, a probability that an input value is below a threshold value associated with the given split decision based on the input value and a variance value associated with the input value, wherein the input value indicates an attribute of an object proximate to an autonomous vehicle;
determining one or more likelihoods associated with a given outcome of a plurality of outcomes, wherein a given outcome is associated with one or more split decisions of the plurality of split decisions, and wherein a given likelihood is determined based on the determined probabilities associated with the one or more split decisions associated with the given outcome; and
based on the determined one or more likelihoods, executing instructions by a computing device to control the autonomous vehicle.
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Accused Products
Abstract
The present disclosure is directed to autonomous vehicle having a vehicle control system. The vehicle control system includes a processing system that receives input values that indicate attributes of an object within a threshold distance of the autonomous vehicle and variance values indicating uncertainty associated with the input values. The processing system also provides a plurality of outcomes that are associated with combinations of split decisions. A given split decision indicates whether a particular input value is above or below a threshold value associated with the given split decision. The processing system further determines (i) a probability that the particular input value is above a threshold value and (ii) a probability that the particular input is below the threshold value for a given split decision. Additionally, the processing system determines one or more likelihoods associated with a given outcome. Further, the processing system provides instructions to control the autonomous vehicle.
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Citations
20 Claims
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1. A method comprising:
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determining, for a given split decision from among a plurality of split decisions, a probability that an input value is below a threshold value associated with the given split decision based on the input value and a variance value associated with the input value, wherein the input value indicates an attribute of an object proximate to an autonomous vehicle; determining one or more likelihoods associated with a given outcome of a plurality of outcomes, wherein a given outcome is associated with one or more split decisions of the plurality of split decisions, and wherein a given likelihood is determined based on the determined probabilities associated with the one or more split decisions associated with the given outcome; and based on the determined one or more likelihoods, executing instructions by a computing device to control the autonomous 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, upon execution by at least one processor of a computing device coupled to an autonomous vehicle, cause the computing device to perform functions comprising:
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receiving training data indicative of a plurality of samples, wherein the samples include sets of feature values and respective labels associated with the sets of feature values, wherein a given set of feature values indicates attributes of an object within a threshold distance of the autonomous vehicle, and wherein a given label indicates whether or not the object performed a particular action; providing a plurality of outcomes, wherein a given outcome is associated with a combination of split decisions, wherein a given split decision indicates whether a particular feature value associated with the given attribute is above or below a threshold value associated with the given split decision; determining subsets of the plurality of samples associated with respective outcomes, wherein at least two of the subsets share at least one common sample; determining likelihoods associated with respective outcomes, wherein a given likelihood indicates that the object is performing a particular action, and wherein the given likelihood associated with a given outcome is determined based on the labels of the samples in the subset associated with the given outcome; determining a particular outcome from the plurality of outcomes that corresponds to a set of input value measurements, wherein the set of input value measurements indicates attributes of the object within the threshold distance of the autonomous vehicle; and executing instructions by the computing device to control the autonomous vehicle based on the likelihood associated with the particular outcome. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A system comprising:
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an autonomous vehicle; at least one sensor configured to determine attributes of an object proximate to the autonomous vehicle; a computing device comprising at least one processor; and a non-transitory computer-readable medium having stored thereon instructions that, upon execution by the at least one processor, cause the computing device to perform functions comprising; determining, for a given split decision from among a plurality of split decisions, a probability that an input value meets a criterion associated with the given split decision based on the input value and a variance value associated with the input value, wherein the input value indicates an attribute of an object proximate to an autonomous vehicle; determining one or more likelihoods associated with a given outcome of a plurality of outcomes, wherein a given outcome is associated with one or more split decisions of the plurality of split decisions, and wherein a given likelihood is determined based on the determined probabilities associated with the one or more split decisions associated with the given outcome; and based on the determined one or more likelihoods, executing instructions by the computing device to control the autonomous vehicle. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification