The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 19, 2024
Filed:
Aug. 04, 2021
Zoox, Inc., Foster City, CA (US);
Timothy Caldwell, Mountain View, CA (US);
Rasmus Fonseca, Boulder Creek, CA (US);
Arian Houshmand, Mountain View, CA (US);
Xianan Huang, Foster City, CA (US);
Marin Kobilarov, Baltimore, MD (US);
Lichao Ma, Santa Clara, CA (US);
Chonhyon Park, San Jose, CA (US);
Cheng Peng, Sunnyvale, CA (US);
Matthew Van Heukelom, San Francisco, CA (US);
ZOOX, INC., Foster City, CA (US);
Abstract
Trajectory generation for controlling motion or other behavior of an autonomous vehicle may include alternately determining a candidate action and predicting a future state based on that candidate action. The technique may include determining a cost associated with the candidate action that may include an estimation of a transition cost from a current or former state to a next state of the vehicle. This cost estimate may be a lower bound cost or an upper bound cost and the tree search may alternately apply the lower bound cost or upper bound cost exclusively or according to a ratio or changing ratio. The prediction of the future state may be based at least in part on a machine-learned model's classification of a dynamic object as being a reactive object or a passive object, which may change how the dynamic object is modeled for the prediction.