US 11,837,089 B2
Modular extensible behavioral decision system for autonomous driving
Biao Ma, Sunnyvale, CA (US); and Lior Tal, San Diego, CA (US)
Assigned to CYNGN, INC., Menlo Park, CA (US)
Filed by CYNGN, INC., Menlo Park, CA (US)
Filed on Aug. 5, 2022, as Appl. No. 17/817,940.
Claims priority of provisional application 63/366,738, filed on Jun. 21, 2022.
Claims priority of provisional application 63/229,852, filed on Aug. 5, 2021.
Claims priority of provisional application 63/229,856, filed on Aug. 5, 2021.
Claims priority of provisional application 63/229,850, filed on Aug. 5, 2021.
Prior Publication US 2023/0039556 A1, Feb. 9, 2023
Int. Cl. G08G 1/0967 (2006.01); G05D 1/00 (2006.01); G08G 1/01 (2006.01); B60W 60/00 (2020.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); B60W 30/09 (2012.01)
CPC G08G 1/096725 (2013.01) [B60W 30/09 (2013.01); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); B60W 60/0027 (2020.02); G05D 1/0088 (2013.01); G08G 1/0108 (2013.01); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02); B60W 2554/404 (2020.02); B60W 2554/4026 (2020.02); B60W 2554/80 (2020.02); B60W 2555/60 (2020.02); G05D 2201/0213 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining input information relating to an environment in which an autonomous vehicle (AV) operates, the input information describing a state of the AV, a property of the environment, and objects included in the environment;
identifying a region of interest that includes a section of the environment in a vicinity and along a route of the AV, the identifying the region of interest being based on the obtained input information and meaning of the objects included in the section of the environment according to rules associated with the objects, the rules indicating expected real-world behavior of the objects according to a semantic map of the section of the environment and the objects included in the section of the environment;
determining whether the identified region of interest represents a positive region or a negative region based on a likelihood of movement of the objects included in the section of the environment representing the identified region of interest affecting operations of the AV, the positive region indicating that the movement of the objects included in the section of the environment is capable of affecting the operations of the AV and the negative region indicating that movement of the objects included in the section of the environment is incapable of affecting the operations of the AV;
sending an instruction to a control system of the AV, the instruction describing a given operation of the AV that ignores movement of the objects while the objects are included in the region of interest responsive to determining that the identified region of interest is the negative region; and
controlling, by the control system of the AV to cause the AV to perform one or more maneuvers, according to the instruction such that the movement of the objects included in the negative region is ignored during the given operation of the AV.