US 11,851,081 B2
Predictability-based autonomous vehicle trajectory assessments
Khaled Refaat, Mountain View, CA (US); Haoyu Chen, Sunnyvale, CA (US); Wei Chai, Cupertino, CA (US); and Alisha Saxena, Bellevue, WA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Dec. 1, 2020, as Appl. No. 17/108,626.
Prior Publication US 2022/0169278 A1, Jun. 2, 2022
Int. Cl. B60W 60/00 (2020.01); G06K 9/62 (2022.01); G06K 9/00 (2022.01); G06N 3/08 (2023.01); G06V 20/56 (2022.01); G06F 18/214 (2023.01); G06F 18/2415 (2023.01)
CPC B60W 60/001 (2020.02) [G06F 18/214 (2023.01); G06F 18/2415 (2023.01); G06N 3/08 (2013.01); G06V 20/56 (2022.01)] 17 Claims
OG exemplary drawing
 
1. A method for operating an autonomous vehicle, comprising:
obtaining, from one or more first models, data representing a set of predicted trajectories for the autonomous vehicle and respective prediction probability scores for the set of predicted trajectories, each respective prediction probability score indicating a likelihood that the autonomous vehicle will travel along a different one of the set of predicted trajectories;
obtaining, from one or more second models, data representing a planned trajectory for the autonomous vehicle, wherein the one or more second models are different than the one or more first models;
processing, with a trajectory encoding neural network, the data representing the set of predicted trajectories for the autonomous vehicle and the respective prediction probability scores to generate an encoded representation of the set of predicted trajectories;
processing, with a predictability scoring neural network, the encoded representation of the set of predicted trajectories and the data representing the planned trajectory for the autonomous vehicle to generate a predictability score that indicates a level of predictability of the planned trajectory;
determining, based at least on the predictability score, whether to initiate travel with the autonomous vehicle along the planned trajectory; and
in response to determining to initiate travel with the autonomous vehicle along the planned trajectory, directing a control system to maneuver the autonomous vehicle along the planned trajectory.