Patent ID: 11926332
Assignee: WAYMO LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A computer-implemented method comprising:
providing an initial state of a vehicle at an initial time as input to a first generative model that is configured to receive vehicle states as input and to generate, as output, predicted observations of an observer in an environment of the vehicle following a trajectory;
receiving, as output of the first generative model, an observer-predicted state of the vehicle at a future time from a perspective of the observer in the environment of the vehicle;
obtaining, from the initial state of the vehicle, a plurality of future states of the vehicle at the future time;
computing a respective measure of surprise for each of the plurality of future states, wherein each respective measure of surprise for each future state represents how surprising the observer would find the vehicle following a trajectory from the initial state to the future state, including comparing the observer-predicted state of the vehicle to each of the plurality of future states of the vehicle; and
selecting a trajectory to control the vehicle based on the respective measures of surprise computed for the plurality of future states.