US 11,780,460 B2
Determining control operations for an autonomous vehicle
John Hayes, Mountain View, CA (US); Volkmar Uhlig, Cupertino, CA (US); Akash J. Sagar, Redwood City, CA (US); Nima Soltani, Los Gatos, CA (US); and Feng Tian, Foster City, CA (US)
Assigned to GHOST AUTONOMY INC., Mountain View, CA (US)
Filed by GHOST AUTONOMY INC., Mountain View, CA (US)
Filed on Sep. 29, 2020, as Appl. No. 17/36,992.
Claims priority of provisional application 62/908,007, filed on Sep. 30, 2019.
Prior Publication US 2021/0094576 A1, Apr. 1, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 40/02 (2006.01); G06T 7/20 (2017.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01)
CPC B60W 60/001 (2020.02) [B60W 40/02 (2013.01); B60W 60/0015 (2020.02); G06T 7/20 (2013.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); B60W 2420/42 (2013.01); B60W 2556/10 (2020.02); G06T 2207/30252 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method for determining control operations for an autonomous vehicle, the method comprising:
in response to an autonomous vehicle entering an autonomous driving mode, repeatedly performing at a predefined interval:
receiving, by an operational model, an operational model input comprising video data from one or more cameras of the autonomous vehicle and one or more motion vectors associated with the video data;
determining, by the operational model, based on the operational model input, a current environmental state and a predicted environmental state corresponding to a future time;
determining, by a rules module and based on a differential between the current environmental state and a previously predicted environmental state corresponding to a same time as the current environmental state, one or more control operations for the autonomous vehicle for reducing the differential, wherein determining the one or more control operations comprises:
providing the differential and the one or more motion vectors as inputs to the rules module;
determining whether the one or more motion vectors satisfy one or more conditions;
wherein when the one or more motion vectors satisfy the one or more conditions, determining, the rules module, the one or more control operations independent of the differential;
wherein when the one or more motion vectors do not satisfy the one or more conditions, determining, by the rules module, the one or more control operations based on the differential; and
executing the one or more control operations by the autonomous vehicle.