US 12,258,048 B2
Hierarchical vehicle action prediction
I-Hsuan Yang, Mountain View, CA (US); and Yu Wang, San Jose, CA (US)
Assigned to PlusAI, Inc., Santa Clara, CA (US)
Filed by PlusAI, Inc., Santa Clara, CA (US)
Filed on May 25, 2023, as Appl. No. 18/202,125.
Application 18/202,125 is a continuation of application No. 18/078,529, filed on Dec. 9, 2022, granted, now 11,697,435.
Prior Publication US 2024/0190474 A1, Jun. 13, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0027 (2020.02) [B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/40 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for predicting vehicle actions, comprising:
at a first vehicle including one or more processors and memory:
obtaining one or more images of a road;
predicting a sequence of vehicle actions of a second vehicle through a hierarchy of interconnected vehicle actions using the one or more images; and
controlling the first vehicle to at least partially autonomously drive based on the predicted sequence of vehicle actions;
wherein the hierarchy of interconnected vehicle actions includes a plurality of action levels that further includes a first action level defined according to a categorized stage in a trip and one or more subsequent action levels defined according to the first action level.