US 12,441,308 B2
Active prediction based on object trajectories
Marin Kobilarov, Baltimore, MD (US); Lichao Ma, Santa Clara, CA (US); Chonhyon Park, San Jose, CA (US); and Matthew Van Heukelom, San Francisco, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Oct. 4, 2023, as Appl. No. 18/376,766.
Application 18/376,766 is a continuation of application No. 17/351,642, filed on Jun. 18, 2021, granted, now 11,851,054.
Prior Publication US 2024/0025399 A1, Jan. 25, 2024
Int. Cl. B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 30/18159 (2020.02); B60W 60/00274 (2020.02); B60W 2552/05 (2020.02); B60W 2554/4044 (2020.02); B60W 2555/60 (2020.02)] 19 Claims
OG exemplary drawing
 
1. One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
determining, based at least in part on searching a first portion of a decision tree, a first set of predicted interactions between an autonomous vehicle traversing a first vehicle trajectory and a first object in an environment of the autonomous vehicle;
determining, based at least in part on searching a second portion of the decision tree, a second set of predicted interactions between the autonomous vehicle traversing a second vehicle trajectory and the first object;
determining, based at least in part on the first set of predicted interactions and the second set of predicted interactions, a predicted trajectory to control the autonomous vehicle;
determining an updated predicted trajectory for the autonomous vehicle based on a predicted intersection point between the autonomous vehicle, the first object, and a second object; and
controlling, based at least in part on the updated predicted trajectory, the autonomous vehicle in the environment to cause the autonomous vehicle to navigate in the environment relative to the first object and the second object.