Patent ID: 11858507
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 9:
10. The method of claim 3, wherein the behavior attention level value for the external entity, represented as xi, is calculated as LBA(xi)=α·Sp(pxi−pD)+β·Sv(vxi−vD)+(1−α−β)·Sh(hxi−hD), where α and β are weights such that (0≤α+β≤1), (pxi, vxi, hxi) represents a position, velocity, and heading angle of the external entity xi, pD is a desired position of the external entity, vD is a desired velocity of the external entity relative to a speed limit, hD is a desired heading angle of the external entity, and Sm(n) is a sigmoid function for an ‘m’ component which converges beyond minimum and maximum ‘n’ values.