US 11,731,653 B2
Conditional motion predictions
Eric Wolff, Boston, MA (US); Sammie Katt, Allston, MA (US); and Bence Cserna, East Boston, MA (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Jul. 9, 2021, as Appl. No. 17/371,553.
Application 17/371,553 is a continuation of application No. 17/003,965, filed on Aug. 26, 2020.
Prior Publication US 2022/0063667 A1, Mar. 3, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01); B60W 40/10 (2012.01)
CPC B60W 60/0011 (2020.02) [B60W 30/095 (2013.01); B60W 30/12 (2013.01); B60W 30/18163 (2013.01); B60W 40/10 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A vehicle, comprising:
a computer-readable media storing computer-executable instructions; and
a processor communicatively coupled to the computer-readable media, the processor configured to execute the computer executable instructions to perform operations comprising:
generating a set of candidate trajectories for the vehicle based on possible macro actions by the vehicle;
for at least some trajectories in the set of candidate trajectories,
predicting a response by a target vehicle to a respective trajectory and a probability of the response by the target vehicle; and
determining a score for the respective trajectory based on a weighted combination of:
(i) the predicted response by the target vehicle to the respective trajectory and the probability of the response by the target vehicle, and
(ii) at least one heuristic calculated for the respective trajectory, wherein calculating the at least one heuristic for the respective trajectory comprises determining a distance traveled for the respective trajectory, and wherein a higher score is assigned to a trajectory having a greater distance traveled relative to distances of other trajectories in the set of candidate trajectories;
selecting a trajectory from the set of candidate trajectories based at least in part on the score; and
operating the vehicle based on the selected trajectory.