US 11,708,093 B2
Trajectories with intent
Kenneth Michael Siebert, Redwood City, CA (US); Gowtham Garimella, Burlingame, CA (US); Benjamin Isaac Mattinson, San Francisco, CA (US); Samir Parikh, Los Gatos, CA (US); and Kai Zhenyu Wang, Foster City, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on May 8, 2020, as Appl. No. 16/870,355.
Prior Publication US 2021/0347383 A1, Nov. 11, 2021
Int. Cl. B60W 60/00 (2020.01); G01C 21/34 (2006.01); G08G 1/00 (2006.01); G06N 20/00 (2019.01); G01C 21/36 (2006.01)
CPC B60W 60/0025 (2020.02) [G01C 21/3407 (2013.01); G01C 21/3453 (2013.01); G01C 21/3691 (2013.01); G06N 20/00 (2019.01); G08G 1/20 (2013.01); B60W 2556/45 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable storage media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving sensor data;
determining an object represented in the sensor data;
determining a first predicted trajectory of the object, the first predicted trajectory associated with a first weight;
determining a second predicted trajectory of the object, the second predicted trajectory associated with a second weight;
receiving map data;
determining, based at least in part on the map data, a first intent of the first predicted trajectory based on a first semantic destination;
determining, based at least in part on the map data, a second intent of the second predicted trajectory based on a second semantic destination of the second predicted trajectory;
determining that one of the first weight or the second weight is higher than another of the first weight and the second weight; and
at least one of:
responsive to determining that the first weight is higher than the second weight, sending the first predicted trajectory associated with the object and the first intent to a planning component to enable the planning component to determine a candidate trajectory for a vehicle; or
responsive to determining that the second weight is higher than the first weight, sending the second predicted trajectory associated with the object and the second intent to the planning component to enable the planning component to determine the candidate trajectory for the vehicle.