| CPC B60W 60/0027 (2020.02) [B60W 50/0097 (2013.01); B60W 2050/0028 (2013.01); B60W 2554/4042 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
receiving, from a sensor associated with an autonomous vehicle, sensor data associated with an environment;
determining, based at least in part on the sensor data, a number of objects in the environment within a threshold distance of the autonomous vehicle;
determining, by a planning component of the autonomous vehicle and based at least in part on the number of objects in the environment, a temporal length of a time horizon for a future predicted state of at least one object, wherein the temporal length includes a first time step and a second time step different from the first time step;
searching a decision tree using the first time step within the time horizon and the second time step within the time horizon;
determining, by the planning component and based at least in part on searching the decision tree, multiple discrete predictions associated with the autonomous vehicle and the environment;
determining, by the planning component and based at least in part on the multiple discrete predictions, an action for the autonomous vehicle; and
controlling the autonomous vehicle based at least in part on the action.
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