US 12,091,044 B2
Hierarchical mode anchoring
Thanard Kurutach, Bangkok (TH); Frank Jiang, San Francisco, CA (US); and Mircea Grecu, San Mateo, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed on Dec. 21, 2021, as Appl. No. 17/557,838.
Prior Publication US 2023/0192128 A1, Jun. 22, 2023
Int. Cl. B60W 60/00 (2020.01); G06F 18/21 (2023.01); G06F 18/214 (2023.01)
CPC B60W 60/0011 (2020.02) [G06F 18/214 (2023.01); B60W 2420/403 (2013.01); B60W 2554/4049 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for increasing a quality of predicted trajectories output from a trained prediction algorithm, the method comprising:
receiving by a trained prediction algorithm, information about objects in an environment as perceived by sensors of an autonomous vehicle;
receiving by the trained prediction algorithm, information about a location of the autonomous vehicle in the environment;
generating by the trained prediction algorithm, a predicted trajectory for an object among the objects in the environment, wherein the predicted trajectory being anchored by a path through a tree of paths including at least two modes, wherein each mode creates a node in the tree, wherein a mode is a semantic classification of a portion of the predicted trajectory;
outputting by the trained prediction algorithm, the predicted trajectory for the object; and
facilitating navigation of a path for the autonomous vehicle based at least in part on the predicted trajectory of the object.