US 12,168,462 B2
Predicting behaviors of road agents using intermediate intention signals
Khaled Refaat, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 31, 2023, as Appl. No. 18/228,365.
Application 18/228,365 is a continuation of application No. 17/101,842, filed on Nov. 23, 2020, granted, now 11,753,041.
Prior Publication US 2024/0025454 A1, Jan. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); G01S 13/58 (2006.01); G01S 13/931 (2020.01); G01S 17/58 (2006.01); G01S 17/931 (2020.01)
CPC B60W 60/0027 (2020.02) [G01S 13/58 (2013.01); G01S 13/931 (2013.01); G01S 17/58 (2013.01); G01S 17/931 (2020.01); B60W 2420/408 (2024.01); B60W 2555/00 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method, comprising:
identifying an intended action of a road agent detected by an autonomous vehicle, the intended action representing an action that the road agent would take if other agents detected in a vicinity of the road agent were disregarded;
identifying a past movement of the road agent;
predicting a behavior of the road agent based on the intended action of the road agent and the past movement of the road agent;
generating a driving decision for the autonomous vehicle based on the predicted behavior of the road agent; and
initiating a movement of the autonomous vehicle based on the driving decision.