US 12,187,324 B2
Trajectory prediction based on a decision tree
Timothy Caldwell, Mountain View, CA (US); Xianan Huang, Foster City, CA (US); Joseph Lorenzetti, Foster City, CA (US); Yunpeng Pan, Newark, CA (US); Ke Sun, Foster City, CA (US); and Linjun Zhang, Canton, MI (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Aug. 31, 2022, as Appl. No. 17/900,658.
Prior Publication US 2024/0092398 A1, Mar. 21, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/18 (2012.01)
CPC B60W 60/0027 (2020.02) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/18163 (2013.01); B60W 2552/10 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
defining a first node of a decision tree to represent a first intent of an object relative to an autonomous vehicle and a second intent of the object relative to the autonomous vehicle;
defining a second node of the decision tree to represent a first an action by the autonomous vehicle;
determining a set of samples for testing the first intent of the object, the second intent of the object, and the action by the autonomous vehicle;
testing the set of samples in a simulated scenario including the object taking a first action in accordance with the first intent and a second action in accordance with the second intent; and
determining, based at least in part on one or more results of the testing, a vehicle trajectory used to control driving of the autonomous vehicle in a real-world environment.