Patent ID: 11970166
Assignee: BEIJING VOYAGER TECHNOLOGY CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. An autonomous vehicle comprising:
a sensor system obtaining sensed information regarding objects in a region of interest in a road network surrounding the vehicle, the objects including traffic participants; and
a driving system including one or more hardware processors executing instructions to perform:
receiving a non-yield backup prediction for the vehicle regarding a traffic participant sensed by the sensor system in the region of interest in the road network surrounding the vehicle, the non-yield backup prediction including a non-yield probability value for the traffic participant not yielding to the vehicle,
obtaining, from the sensor system, driving information for other traffic participants surrounding the vehicle within the region of interest, the driving information including a speed of each of the other traffic participants,
determining an average speed of the other traffic participants,
determining a cautious driving speed for the vehicle by calculating a reverse probability value and multiplying the average speed of the other traffic participants by the reverse probability value, the reverse probability value being a reverse percentage of the non-yield probability value relative to a maximum value for the non-yield probability value, and
with a speed of the vehicle being greater than the cautious driving speed, controlling the vehicle to reduce the speed of the vehicle to the cautious driving speed.