US 12,420,830 B2
Path generation based on predicted actions
Sammy Omari, Pittsburgh, PA (US); Kevin C. Gall, Dover, NH (US); Juraj Kabzan, Boston, MA (US); Hans Andersen, Singapore (SG); Bence Cserna, Nahant, MA (US); and Scott Drew Pendleton, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Jul. 22, 2022, as Appl. No. 17/814,497.
Prior Publication US 2024/0025443 A1, Jan. 25, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); G06V 20/58 (2022.01)
CPC B60W 60/0011 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 30/146 (2013.01); B60W 30/18159 (2020.02); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); B60W 60/00274 (2020.02); G06V 20/58 (2022.01); B60W 2420/403 (2013.01); B60W 2554/4029 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A method for operating an autonomous vehicle, the method comprising:
obtaining, by at least one processor, semantic image data associated with an environment in which the autonomous vehicle is operating, wherein the semantic image data is generated based on images captured by an image sensor, and wherein the semantic image data comprises object attributes associated with objects identified within the images;
determining, by the at least one processor, a set of agents in the environment based on the semantic image data;
determining a set of predicted actions for at least one primary agent of the set of agents, wherein the set of predicted actions are determined using a neural network;
determining, from the set of predicted actions, a set of secondary predicted actions for the at least one primary agent, wherein the set of secondary predicted actions is determined for the at least one primary agent based on a location of the at least one primary agent and based on agent semantic behavior data associated with the at least one primary agent, wherein the agent semantic behavior data comprise logic-based rules and exceptions for predicted agent actions, and wherein a predicted action of the set of predicted actions is determined to be a secondary predicted action of the set of secondary predicted actions based on a probability of an occurrence of the predicted action not satisfying a probability threshold;
determining, from the set of predicted actions, a set of primary predicted actions other than secondary predicted actions, wherein a predicted action of the set of predicted actions is determined to be a primary predicted action of the set of primary predicted actions based on a probability of an occurrence of the predicted action satisfying the probability threshold;
generating a path for the autonomous vehicle based on the set of primary predicted actions; and
providing a control signal to cause the autonomous vehicle to operate along the path for the autonomous vehicle.