Patent ID: 11908328
Assignee: WAYMO LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method comprising:
receiving, by one or more processors of a first vehicle, sensor information including information about vehicles in a driving environment of the first vehicle;
determining, by the one or more processors, a plurality of trajectories corresponding to the vehicles;
consolidating, by the one or more processors, the plurality of trajectories;
determining, by the one or more processors, a consolidated trajectory quality value for the consolidated trajectory, the consolidated trajectory quality value representing a quality of the consolidated trajectory;
determining, by the one or more processors, a probability value that the driving environment has changed based on the consolidated trajectory quality value; and
performing, by the one or more processors, one or more actions when the probability value has met or exceeded a probability threshold.