US 11,853,069 B2
Continuing lane driving prediction
Vishu Goyal, Sunnyvale, CA (US); and Kai Ding, Santa Clara, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Mar. 12, 2021, as Appl. No. 17/199,948.
Prior Publication US 2022/0291690 A1, Sep. 15, 2022
Int. Cl. G05D 1/02 (2020.01); G05B 13/04 (2006.01); B60W 60/00 (2020.01); G05B 13/02 (2006.01)
CPC G05D 1/0214 (2013.01) [B60W 60/001 (2020.02); G05B 13/0265 (2013.01); G05B 13/048 (2013.01); B60W 2552/05 (2020.02); B60W 2552/15 (2020.02); B60W 2552/20 (2020.02); B60W 2552/30 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02); B60W 2555/60 (2020.02); G05D 2201/0213 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method of operating a vehicle in an autonomous driving mode, the method comprising:
identifying, by one or more processors, a source lane along a roadway, the source lane being associated with a road user other than the vehicle;
identifying, by the one or more processors according to a first trained machine learning model, a target continuing lane, the target continuing lane being an impermissible lane that the road user may move toward, wherein the first trained machine learning model is trained according to one or more source lane features and one or more target lane features, wherein at least one source lane feature or at least one target lane feature includes at least one of a speed limit, lane curvature, lane incline, or lane camber;
receiving, by one or more sensors of a perception system of the vehicle, sensor data associated with objects in an external environment of the vehicle including the road user;
generating, by the one or more processors according to a second trained machine learning model and the received sensor data, a continuing lane driving behavior prediction for the road user along the target continuing lane; and
controlling, by the one more processors, the vehicle in the autonomous driving mode based on the continuing lane driving behavior prediction.