US 12,236,327 B1
Automated system and method for modeling the behavior of vehicles and other agents
Jiajun Zhu, Palo Alto, CA (US); David I. Ferguson, San Francisco, CA (US); and Dmitri A. Dolgov, Los Altos, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by WAYMO LLC, Mountain View, CA (US)
Filed on Dec. 12, 2023, as Appl. No. 18/536,876.
Application 18/536,876 is a continuation of application No. 17/523,350, filed on Nov. 10, 2021, granted, now 11,878,683.
Application 17/523,350 is a continuation of application No. 16/039,827, filed on Jul. 19, 2018, granted, now 11,198,430, issued on Dec. 14, 2021.
Application 16/039,827 is a continuation of application No. 15/278,338, filed on Sep. 28, 2016, granted, now 10,059,334, issued on Aug. 28, 2018.
Application 15/278,338 is a continuation of application No. 13/446,494, filed on Apr. 13, 2012, granted, now 9,495,874, issued on Nov. 15, 2016.
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/08 (2012.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01); G05D 1/00 (2006.01); G06N 3/00 (2023.01); G06N 20/00 (2019.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G08G 1/0962 (2006.01); G08G 1/0967 (2006.01); G08G 1/16 (2006.01); G01R 19/25 (2006.01); G06V 10/20 (2022.01)
CPC G06N 20/00 (2019.01) [B60W 30/08 (2013.01); B60W 30/09 (2013.01); B60W 30/095 (2013.01); B60W 30/0956 (2013.01); B60W 50/0097 (2013.01); B60W 60/00133 (2020.02); B60W 60/00274 (2020.02); B60W 60/00276 (2020.02); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G06N 3/00 (2013.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G06V 20/582 (2022.01); G06V 20/584 (2022.01); G06V 20/588 (2022.01); G08G 1/09623 (2013.01); G08G 1/09626 (2013.01); G08G 1/096725 (2013.01); G08G 1/096741 (2013.01); G08G 1/096775 (2013.01); G08G 1/164 (2013.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/00 (2020.02); B60W 2554/20 (2020.02); B60W 2554/4023 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/80 (2020.02); B60W 2555/20 (2020.02); B60W 2556/10 (2020.02); G01R 19/25 (2013.01); G05D 1/0212 (2013.01); G05D 1/0289 (2013.01); G06V 10/255 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method of maneuvering a vehicle, the method comprising:
receiving, by one or more processors, object data identifying an object in an environment of the vehicle;
identifying, by the one or more processors, a behavior of interest corresponding to an action taken by the object based on the object data;
determining, by the one or more processors, a plurality of probabilities for potential actions of the object using a behavior model, the behavior model configured to predict how another object having a same classification as the object will behave;
updating, by the one or more processors, the behavior model by adjusting the plurality of probabilities based on the behavior of interest; and
maneuvering, by the one or more processors, the vehicle based on the updated behavior model and the behavior of interest.