US 12,280,802 B2
Systems and methods for multiple algorithm selection
Blake Warren Wulfe, San Francisco, CA (US); Guy Rosman, Newton, MA (US); Noah J. Epstein, Cambridge, MA (US); and Luke D. Fletcher, Cambridge, MA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Oct. 3, 2023, as Appl. No. 18/480,248.
Application 18/480,248 is a continuation of application No. 16/941,434, filed on Jul. 28, 2020, granted, now 11,807,272.
Prior Publication US 2024/0025449 A1, Jan. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); G01C 21/34 (2006.01); G06N 5/02 (2023.01); G07C 5/08 (2006.01); G08G 1/00 (2006.01)
CPC B60W 60/0016 (2020.02) [B60W 30/0956 (2013.01); B60W 60/0011 (2020.02); B60W 60/0013 (2020.02); B60W 60/0027 (2020.02); G01C 21/3407 (2013.01); G06N 5/02 (2013.01); G07C 5/085 (2013.01); G08G 1/22 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
an autonomous control system adapted to provide one or more commands to autonomously control one or more systems of the vehicle;
an obstacle recognition unit adapted to:
apply a plurality of prediction algorithms to a first state of an object generating a plurality of predictions regarding object trajectory; and
determine which of the plurality of prediction algorithms generates a most accurate prediction of the plurality of predictions regarding trajectory of the object by:
determining an error associated with each of the plurality of prediction algorithms at each of a plurality of timesteps; and
applying a weighting filter to the error associated with each of the plurality of prediction algorithms; and
a navigation plan generation unit adapted to generate a navigation plan based on the most accurate prediction of the plurality of predictions regarding the trajectory of the object, according to a first state of the object, and according to which, the vehicle is autonomously controlled, the prediction algorithm of the plurality of prediction algorithms generating the most accurate prediction being subsequently applied to another object upon a determination that the another object is in a second state comprising characteristics of the first state, generating a subsequent prediction, and generating another navigation plan or portion of the navigation plan based on the subsequent prediction.