Patent ID: 11900797
Assignee: FIVE AI LIMITED
Field: Computer technology (Electrical engineering)
Classification: CPC G  B  H  Y | IPC B  G  H

Claim 15:
16. A method of planning autonomous vehicle (AV) manoeuvers in an encountered driving scenario, the method comprising:
planning an AV manoeuver in an encountered driving scenario, by executing a tree search algorithm to determine a sequence of AV manoeuvres corresponding to a path through a constructed game tree;
wherein the constructed game tree has a plurality of nodes representing anticipated states of the encountered driving scenario, and the anticipated driving scenario state of each child node is determined by updating the driving scenario state of its parent node based on (i) a candidate AV manoeuvre and (ii) an anticipated behaviour of at least one external agent in the encountered driving scenario; and
wherein the anticipated behaviour of the external agent is simulated by applying a generative behaviour model to one or more observed parameters of the external agent as derived from sensor inputs, the generative behaviour model being a machine learning (ML) model which has been trained based on examples of observed, real-world driving behaviour.