US 12,441,369 B2
Automated cut-in identification and classification
Pablo Abad, Mountain View, CA (US); Aman Ved Kalia, Mountain View, CA (US); Juan Gomez-Ramos, Mountain View, CA (US); Jiayi Chen, Mountain View, CA (US); Jasman Singh Malik, Mountain View, CA (US); and Joe Riggs, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Apr. 18, 2024, as Appl. No. 18/639,421.
Application 18/639,421 is a continuation of application No. 17/565,232, filed on Dec. 29, 2021, granted, now 11,993,288.
Prior Publication US 2024/0262393 A1, Aug. 8, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); B60W 50/00 (2006.01); G05B 13/02 (2006.01)
CPC B60W 60/0027 (2020.02) [B60W 50/0098 (2013.01); G05B 13/0265 (2013.01); B60W 2050/0031 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2710/18 (2013.01); B60W 2720/10 (2013.01); B60W 2720/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining operational data about one or more vehicles;
based on the operational data, identifying the presence of one or more cut-ins within the operational data;
extracting, from the operational data, cut-in data that depicts one or more of the cut-ins identified within the operational data;
based on the extracted cut-in data, training a model for controlling an autonomous vehicle, wherein training the model for controlling the autonomous vehicle based on the extracted cut-in data comprises:
determining one or more scores for the autonomous vehicle's reaction to one or more of the cut-ins identified within the operational data, wherein the autonomous vehicle's reaction to one or more of the cut-ins identified within the operational data is determined by a first model for controlling the autonomous vehicle; and
based on the one or more scores, selecting a new model from a plurality of such models to replace the first model; and
based on the model for controlling the autonomous vehicle, generating and implementing a control output to operate the autonomous vehicle.